Built upon the decision tree (DT) classification and regression idea, the subspace learning machine (SLM) has been recently proposed to offer higher performance in general classification and regression tasks. Its performance improvement is reached at the expense of higher computational complexity. In this work, we investigate two ways to accelerate SLM. First, we adopt the particle swarm optimization (PSO) algorithm to speed up the search of a discriminant dimension that is expressed as a linear combination of current dimensions. The search of optimal weights in the linear combination is computationally heavy. It is accomplished by probabilistic search in original SLM. The acceleration of SLM by PSO requires 10-20 times fewer iterations. Second, we leverage parallel processing in the SLM implementation. Experimental results show that the accelerated SLM method achieves a speed up factor of 577 in training time while maintaining comparable classification/regression performance of original SLM.

It is increasingly possible for real-world agents, such as software-based agents or human institutions, to view the internal programming of other such agents that they interact with. For instance, a company can read the bylaws of another company, or one software system can read the source code of another. Game-theoretic equilibria between the designers of such agents are called \emph{program equilibria}, and we call this area \emph{open-source game theory}. In this work we demonstrate a series of counterintuitive results on open-source games, which are independent of the programming language in which agents are written. We show that certain formal institution designs that one might expect to defect against each other will instead turn out to cooperate, or conversely, cooperate when one might expect them to defect. The results hold in a setting where each institution has full visibility into the other institution's true operating procedures. We also exhibit examples and ten open problems for better understanding these phenomena. We argue that contemporary game theory remains ill-equipped to study program equilibria, given that even the outcomes of single games in open-source settings remain counterintuitive and poorly understood. Nonetheless, some of these open-source agents exhibit desirable characteristics -- e.g., they can unexploitably create incentives for cooperation and legibility from other agents -- such that analyzing them could yield considerable benefits.

How does empathy influence creative problem solving? We introduce a computational empathy intervention based on context-specific affective mimicry and perspective taking by a virtual agent appearing in the form of a well-dressed polar bear. In an online experiment with 1,006 participants randomly assigned to an emotion elicitation intervention (with a control elicitation condition and anger elicitation condition) and a computational empathy intervention (with a control virtual agent and an empathic virtual agent), we examine how anger and empathy influence participants' performance in solving a word game based on Wordle. We find participants who are assigned to the anger elicitation condition perform significantly worse on multiple performance metrics than participants assigned to the control condition. However, we find the empathic virtual agent counteracts the drop in performance induced by the anger condition such that participants assigned to both the empathic virtual agent and the anger condition perform no differently than participants in the control elicitation condition and significantly better than participants assigned to the control virtual agent and the anger elicitation condition. While empathy reduces the negative effects of anger, we do not find evidence that the empathic virtual agent influences performance of participants who are assigned to the control elicitation condition. By introducing a framework for computational empathy interventions and conducting a two-by-two factorial design randomized experiment, we provide rigorous, empirical evidence that computational empathy can counteract the negative effects of anger on creative problem solving.

Language-guided Embodied AI benchmarks requiring an agent to navigate an environment and manipulate objects typically allow one-way communication: the human user gives a natural language command to the agent, and the agent can only follow the command passively. We present DialFRED, a dialogue-enabled embodied instruction following benchmark based on the ALFRED benchmark. DialFRED allows an agent to actively ask questions to the human user; the additional information in the user's response is used by the agent to better complete its task. We release a human-annotated dataset with 53K task-relevant questions and answers and an oracle to answer questions. To solve DialFRED, we propose a questioner-performer framework wherein the questioner is pre-trained with the human-annotated data and fine-tuned with reinforcement learning. We make DialFRED publicly available and encourage researchers to propose and evaluate their solutions to building dialog-enabled embodied agents.

A nonnegative latent factorization of tensors (NLFT) model can well model the temporal pattern hidden in nonnegative quality-of-service (QoS) data for predicting the unobserved ones with high accuracy. However, existing NLFT models' objective function is based on Euclidean distance, which is only a special case of $\beta$-divergence. Hence, can we build a generalized NLFT model via adopting $\beta$-divergence to achieve prediction accuracy gain? To tackle this issue, this paper proposes a $\beta$-divergence-based NLFT model ($\beta$-NLFT). Its ideas are two-fold 1) building a learning objective with $\beta$-divergence to achieve higher prediction accuracy, and 2) implementing self-adaptation of hyper-parameters to improve practicability. Empirical studies on two dynamic QoS datasets demonstrate that compared with state-of-the-art models, the proposed $\beta$-NLFT model achieves the higher prediction accuracy for unobserved QoS data.

In the prior literature on multi-agent area defense games, the assignments of the defenders to the attackers are done based on a cost metric associated only with the interception of the attackers. In contrast to that, this paper presents an Inter-Defender Collision-Aware Interception Strategy (IDCAIS) for defenders to intercept attackers in order to defend a protected area, such that the defender-to-attacker assignment protocol not only takes into account an interception-related cost but also takes into account any possible future collisions among the defenders on their optimal interception trajectories. In particular, in this paper, the defenders are assigned to intercept attackers using a mixed-integer quadratic program (MIQP) that: 1) minimizes the sum of times taken by defenders to capture the attackers under time-optimal control, as well as 2) helps eliminate or delay possible future collisions among the defenders on the optimal trajectories. To prevent inevitable collisions on optimal trajectories or collisions arising due to time-sub-optimal behavior by the attackers, a minimally augmented control using exponential control barrier function (ECBF) is also provided. Simulations show the efficacy of the approach.

With the advancement of modern robotics, autonomous agents are now capable of hosting sophisticated algorithms, which enables them to make intelligent decisions. But developing and testing such algorithms directly in real-world systems is tedious and may result in the wastage of valuable resources. Especially for heterogeneous multi-agent systems in battlefield environments where communication is critical in determining the system's behavior and usability. Due to the necessity of simulators of separate paradigms (co-simulation) to simulate such scenarios before deploying, synchronization between those simulators is vital. Existing works aimed at resolving this issue fall short of addressing diversity among deployed agents. In this work, we propose \textit{SynchroSim}, an integrated co-simulation middleware to simulate a heterogeneous multi-robot system. Here we propose a velocity difference-driven adjustable window size approach with a view to reducing packet loss probability. It takes into account the respective velocities of deployed agents to calculate a suitable window size before transmitting data between them. We consider our algorithm-specific simulator agnostic but for the sake of implementation results, we have used Gazebo as a Physics simulator and NS-3 as a network simulator. Also, we design our algorithm considering the Perception-Action loop inside a closed communication channel, which is one of the essential factors in a contested scenario with the requirement of high fidelity in terms of data transmission. We validate our approach empirically at both the simulation and system level for both line-of-sight (LOS) and non-line-of-sight (NLOS) scenarios. Our approach achieves a noticeable improvement in terms of reducing packet loss probability ($\approx$11\%), and average packet delay ($\approx$10\%) compared to the fixed window size-based synchronization approach.

Extracting the latent information in high-dimensional and incomplete matrices is an important and challenging issue. The Latent Factor Analysis (LFA) model can well handle the high-dimensional matrices analysis. Recently, Particle Swarm Optimization (PSO)-incorporated LFA models have been proposed to tune the hyper-parameters adaptively with high efficiency. However, the incorporation of PSO causes the premature problem. To address this issue, we propose a sequential Adam-adjusting-antennae BAS (A2BAS) optimization algorithm, which refines the latent factors obtained by the PSO-incorporated LFA model. The A2BAS algorithm consists of two sub-algorithms. First, we design an improved BAS algorithm which adjusts beetles' antennae and step-size with Adam; Second, we implement the improved BAS algorithm to optimize all the row and column latent factors sequentially. With experimental results on two real high-dimensional matrices, we demonstrate that our algorithm can effectively solve the premature convergence issue.

Latent Factor (LF) models are effective in representing high-dimension and sparse (HiDS) data via low-rank matrices approximation. Hessian-free (HF) optimization is an efficient method to utilizing second-order information of an LF model's objective function and it has been utilized to optimize second-order LF (SLF) model. However, the low-rank representation ability of a SLF model heavily relies on its multiple hyperparameters. Determining these hyperparameters is time-consuming and it largely reduces the practicability of an SLF model. To address this issue, a practical SLF (PSLF) model is proposed in this work. It realizes hyperparameter self-adaptation with a distributed particle swarm optimizer (DPSO), which is gradient-free and parallelized. Experiments on real HiDS data sets indicate that PSLF model has a competitive advantage over state-of-the-art models in data representation ability.

Motion forecasting in highly interactive scenarios is a challenging problem in autonomous driving. In such scenarios, we need to accurately predict the joint behavior of interacting agents to ensure the safe and efficient navigation of autonomous vehicles. Recently, goal-conditioned methods have gained increasing attention due to their advantage in performance and their ability to capture the multimodality in trajectory distribution. In this work, we study the joint trajectory prediction problem with the goal-conditioned framework. In particular, we introduce a conditional-variational-autoencoder-based (CVAE) model to explicitly encode different interaction modes into the latent space. However, we discover that the vanilla model suffers from posterior collapse and cannot induce an informative latent space as desired. To address these issues, we propose a novel approach to avoid KL vanishing and induce an interpretable interactive latent space with pseudo labels. The proposed pseudo labels allow us to incorporate domain knowledge on interaction in a flexible manner. We motivate the proposed method using an illustrative toy example. In addition, we validate our framework on the Waymo Open Motion Dataset with both quantitative and qualitative evaluations.