Particle Swarm Optimization (PSO) has demonstrated efficacy in addressing static path planning problems. Nevertheless, such application on dynamic scenarios has been severely precluded by PSO's low computational efficiency and premature convergence downsides. To address these limitations, we proposed a Tensor Operation Form (TOF) that converts particle-wise manipulations to tensor operations, thereby enhancing computational efficiency. Harnessing the computational advantage of TOF, a variant of PSO, designated as Self-Evolving Particle Swarm Optimization (SEPSO) was developed. The SEPSO is underpinned by a novel Hierarchical Self-Evolving Framework (HSEF) that enables autonomous optimization of its own hyper-parameters to evade premature convergence. Additionally, a Priori Initialization (PI) mechanism and an Auto Truncation (AT) mechanism that substantially elevates the real-time performance of SEPSO on dynamic path planning problems were introduced. Comprehensive experiments on four widely used benchmark optimization functions have been initially conducted to corroborate the validity of SEPSO. Following this, a dynamic simulation environment that encompasses moving start/target points and dynamic/static obstacles was employed to assess the effectiveness of SEPSO on the dynamic path planning problem. Simulation results exhibit that the proposed SEPSO is capable of generating superior paths with considerably better real-time performance (67 path planning computations per second in a regular desktop computer) in contrast to alternative methods. The code and video of this paper can be accessed here.

As autonomous systems increasingly become part of our lives, it is crucial to foster trust between humans and these systems, to ensure positive outcomes and mitigate harmful ones.

Implicit representations such as Neural Radiance Fields (NeRF) have been shown to be very effective at novel view synthesis. However, these models typically require manual and careful human data collection for training. In this paper, we present AutoNeRF, a method to collect data required to train NeRFs using autonomous embodied agents. Our method allows an agent to explore an unseen environment efficiently and use the experience to build an implicit map representation autonomously. We compare the impact of different exploration strategies including handcrafted frontier-based exploration, end-to-end and modular approaches composed of trained high-level planners and classical low-level path followers. We train these models with different reward functions tailored to this problem and evaluate the quality of the learned representations on four different downstream tasks: classical viewpoint rendering, map reconstruction, planning, and pose refinement. Empirical results show that NeRFs can be trained on actively collected data using just a single episode of experience in an unseen environment, and can be used for several downstream robotic tasks, and that modular trained exploration models outperform other classical and end-to-end baselines. Finally, we show that AutoNeRF can reconstruct large-scale scenes, and is thus a useful tool to perform scene-specific adaptation as the produced 3D environment models can be loaded into a simulator to fine-tune a policy of interest.

Keywords: carbon fiber reinforced polymer, concrete, confinement effect, strength, particle swarm optimization, grey wolf optimizer, bat algorithm Abstract This article deals with the study of predicting the confinement effect of carbon fiber reinforced polymers (CFRPs) on concrete cylinder strength using metaheuristics-based artificial neural networks. Three metaheuristic models are implemented including particle swarm optimization (PSO), grey wolf optimizer (GWO), and bat algorithm (BA). These algorithms are trained on the data using an objective function of mean square error and their predicted results are validated against the experimental studies and finite element analysis. The study shows that the hybrid model of PSO predicted the strength of CFRP-confined concrete cylinders with maximum accuracy of 99.13% and GWO predicted the results with an accuracy of 98.17%. The high accuracy of axial compressive strength predictions demonstrated that these prediction models are a reliable solution to the empirical methods. The prediction models are especially suitable for avoiding full-scale time-consuming experimental tests that make the process quick and economical. 1 Introduction Fiber-reinforced polymer is a composite material comprising fibers of either glass, aramid, or carbon and a polymer matrix. These fibers improve the properties of the polymer matrix mechanically including its stiffness and strength. The popularity of these composites has increased significantly in civil engineering due to their ability to strengthen concrete structural members. FRPs can be used either as a bar or plates embedded in concrete as an internal reinforcement and can be used as an external reinforcement by wrapping FRP sheets to existing structural members. The FRP bars have significantly higher strength than the steel reinforcement bars. They are highly durable and resistant to chemicals, corrosion (Cousin et al. 2019, Ananthkumar et al. 2020, Zhang et al. 2020), and radiation, their higher strength-to-weight ratio (Zhou et al. 2019) makes them ideal for structures that require high strength but need not be heavy. They can be molded into any required shape that provides higher design flexibility. Moreover, it has a lower environmental impact (Lee and Jain 2009), unlike concrete and timber.

Recent advances in reinforcement learning (RL) and Human-in-the-Loop (HitL) learning have made human-AI collaboration easier for humans to team with AI agents. Leveraging human expertise and experience with AI in intelligent systems can be efficient and beneficial. Still, it is unclear to what extent human-AI collaboration will be successful, and how such teaming performs compared to humans or AI agents only. In this work, we show that learning from humans is effective and that human-AI collaboration outperforms human-controlled and fully autonomous AI agents in a complex simulation environment. In addition, we have developed a new simulator for critical infrastructure protection, focusing on a scenario where AI-powered drones and human teams collaborate to defend an airport against enemy drone attacks. We develop a user interface to allow humans to assist AI agents effectively. We demonstrated that agents learn faster while learning from policy correction compared to learning from humans or agents. Furthermore, human-AI collaboration requires lower mental and temporal demands, reduces human effort, and yields higher performance than if humans directly controlled all agents. In conclusion, we show that humans can provide helpful advice to the RL agents, allowing them to improve learning in a multi-agent setting.

We study a majority based preference diffusion model in which the members of a social network update their preferences based on those of their connections. Consider an undirected graph where each node has a strict linear order over a set of $\alpha$ alternatives. At each round, a node randomly selects two adjacent alternatives and updates their relative order with the majority view of its neighbors. We bound the convergence time of the process in terms of the number of nodes/edges and $\alpha$. Furthermore, we study the minimum cost to ensure that a desired alternative will ``win'' the process, where occupying each position in a preference order of a node has a cost. We prove tight bounds on the minimum cost for general graphs and graphs with strong expansion properties. Furthermore, we investigate a more light-weight process where each node chooses one of its neighbors uniformly at random and copies its order fully with some fixed probability and remains unchanged otherwise. We characterize the convergence properties of this process, namely convergence time and stable states, using Martingale and reversible Markov chain analysis. Finally, we present the outcomes of our experiments conducted on different synthetic random graph models and graph data from online social platforms. These experiments not only support our theoretical findings, but also shed some light on some other fundamental problems, such as designing powerful countermeasures.

A key method for creating Artificial Intelligence (AI) agents is Reinforcement Learning (RL). However, constructing a standalone RL policy that maps perception to action directly encounters severe problems, chief among them being its lack of generality across multiple tasks and the need for a large amount of training data. The leading cause is that it cannot effectively integrate prior information into the perception-action cycle when devising the policy. Large language models (LLMs) emerged as a fundamental way to incorporate cross-domain knowledge into AI agents but lack crucial learning and adaptation toward specific decision problems. This paper presents a general framework model for integrating and learning structured reasoning into AI agents' policies. Our methodology is motivated by the modularity found in the human brain. The framework utilises the construction of intrinsic and extrinsic functions to add previous understandings of reasoning structures. It also provides the adaptive ability to learn models inside every module or function, consistent with the modular structure of cognitive processes. We describe the framework in-depth and compare it with other AI pipelines and existing frameworks. The paper explores practical applications, covering experiments that show the effectiveness of our method. Our results indicate that AI agents perform and adapt far better when organised reasoning and prior knowledge are embedded. This opens the door to more resilient and general AI agent systems.

The increasing reliance of drivers on navigation applications has made transportation networks more susceptible to data-manipulation attacks by malicious actors. Adversaries may exploit vulnerabilities in the data collection or processing of navigation services to inject false information, and to thus interfere with the drivers' route selection. Such attacks can significantly increase traffic congestions, resulting in substantial waste of time and resources, and may even disrupt essential services that rely on road networks. To assess the threat posed by such attacks, we introduce a computational framework to find worst-case data-injection attacks against transportation networks. First, we devise an adversarial model with a threat actor who can manipulate drivers by increasing the travel times that they perceive on certain roads. Then, we employ hierarchical multi-agent reinforcement learning to find an approximate optimal adversarial strategy for data manipulation. We demonstrate the applicability of our approach through simulating attacks on the Sioux Falls, ND network topology.

We present an opinion model founded upon the principles of the bounded confidence interaction among agents. Our objective is to explain the polarization effects inherent to vector-valued opinions. The evolutionary process adheres to the rule where each agent aspires to increase polarization through communication with a single friend during each discrete time step. The dynamics ensure that agents' ultimate (temporal) configuration will encompass a finite number of outlier states. We introduce deterministic and stochastic models, accompanied by a comprehensive mathematical analysis of their inherent properties. Additionally, we provide compelling illustrative examples and introduce a stochastic solver tailored for scenarios featuring an extensive set of agents. Furthermore, in the context of smaller agent populations, we scrutinize the suitability of neural networks for the rapid inference of limit configurations.

Reinforcement learning has been revolutionizing the traditional traffic signal control task, showing promising power to relieve congestion and improve efficiency. However, the existing methods lack effective learning mechanisms capable of absorbing dynamic information inherent to a specific scenario and universally applicable dynamic information across various scenarios. Moreover, within each specific scenario, they fail to fully capture the essential empirical experiences about how to coordinate between neighboring and target intersections, leading to sub-optimal system-wide outcomes. Viewing these issues, we propose DuaLight, which aims to leverage both the experiential information within a single scenario and the generalizable information across various scenarios for enhanced decision-making. Specifically, DuaLight introduces a scenario-specific experiential weight module with two learnable parts: Intersection-wise and Feature-wise, guiding how to adaptively utilize neighbors and input features for each scenario, thus providing a more fine-grained understanding of different intersections. Furthermore, we implement a scenario-shared Co-Train module to facilitate the learning of generalizable dynamics information across different scenarios. Empirical results on both real-world and synthetic scenarios show DuaLight achieves competitive performance across various metrics, offering a promising solution to alleviate traffic congestion, with 3-7\% improvements. The code is available under: https://github.com/lujiaming-12138/DuaLight.