Estimating global human motion from moving cameras is challenging due to the entanglement of human and camera motions. To mitigate the ambiguity, existing methods leverage learned human motion priors, which however often result in oversmoothed motions with misaligned 2D projections. To tackle this problem, we propose COIN, a control-inpainting motion diffusion prior that enables fine-grained control to disentangle human and camera motions. Although pre-trained motion diffusion models encode rich motion priors, we find it non-trivial to leverage such knowledge to guide global motion estimation from RGB videos. COIN introduces a novel control-inpainting score distillation sampling method to ensure well-aligned, consistent, and high-quality motion from the diffusion prior within a joint optimization framework. Furthermore, we introduce a new human-scene relation loss to alleviate the scale ambiguity by enforcing consistency among the humans, camera, and scene. Experiments on three challenging benchmarks demonstrate the effectiveness of COIN, which outperforms the state-of-the-art methods in terms of global human motion estimation and camera motion estimation. As an illustrative example, COIN outperforms the state-of-the-art method by 33% in world joint position error (W-MPJPE) on the RICH dataset.

Fueled by advances in artificial intelligence, robotic process automation is impacting virtually every sector of the economy (McKinsey Global Institute 2017). The logistics sector lies at the core of this transformation: autonomous mobile robots are being deployed in tens of thousands of manufacturing and distribution facilities with a near-term $10-50 billion market potential (Grand View Research 2021, ABI Research 2021). A predominant operating model, shown in Figure 1, involves part-to-picker warehousing operations, which relies on robotic agents transporting shelves of inventory from a storage location to a workstation for a human operator to fulfill orders and back to a storage location. Robotic operations can improve throughput and working conditions by letting human workers focus on the more productive tasks, while improving system reliability. Yet, to truly take advantage of automation opportunities, modern warehousing systems require dedicated decision support tools to manage large robotic fleets and human-robot interactions in high-density operations. At the core of robotic process automation lies the computer vision, sensing, mapping and robotic technologies to empower autonomous agents--in our case, robots capable to move shelves of inventory. A subsequent problem involves control mechanisms to coordinate multiagent systems--in our case, to avoid conflicts and collisions between robots.

Consensus planning is a method for coordinating decision making across complex systems and organizations, including complex supply chain optimization pipelines. It arises when large interdependent distributed agents (systems) share common resources and must act in order to achieve a joint goal. In this paper, we introduce a generic Consensus Planning Protocol (CPP) to solve such problems. Our protocol allows for different agents to interact with the coordinating algorithm in different ways (e.g., as a primal or dual or proximal agent). In prior consensus planning work, all agents have been assumed to have the same interaction pattern (e.g., all dual agents or all primal agents or all proximal agents), most commonly using the Alternating Direction Method of Multipliers (ADMM) as proximal agents. However, this is often not a valid assumption in practice, where agents consist of large complex systems, and where we might not have the luxury of modifying these large complex systems at will. Our generic CPP allows for any mix of agents by combining ADMM-like updates for the proximal agents, dual ascent updates for the dual agents, and linearized ADMM updates for the primal agents. We prove convergence results for the generic CPP, namely a sublinear O(1/k) convergence rate under mild assumptions, and two-step linear convergence under stronger assumptions. We also discuss enhancements to the basic method and provide illustrative empirical results.

Unsupervised clustering has emerged as a critical tool for uncovering hidden patterns and insights from vast, unlabeled datasets. However, traditional methods like Partitioning Around Medoids (PAM) struggle with scalability due to their quadratic computational complexity. To address this limitation, we introduce WOA-kMedoids, a novel unsupervised clustering method that incorporates the Whale Optimization Algorithm (WOA), a nature-inspired metaheuristic inspired by the hunting strategies of humpback whales. By optimizing centroid selection, WOA-kMedoids reduces computational complexity of the k-medoids algorithm from quadratic to near-linear with respect to the number of observations. This improvement in efficiency enables WOA-kMedoids to be scalable to large datasets while maintaining high clustering accuracy. We evaluated the performance of WOA-kMedoids on 25 diverse time series datasets from the UCR archive. Our empirical results demonstrate that WOA-kMedoids maintains clustering accuracy similar to PAM. While WOA-kMedoids exhibited slightly higher runtime than PAM on small datasets (less than 300 observations), it outperformed PAM in computational efficiency on larger datasets. The scalability of WOA-kMedoids, combined with its consistently high accuracy, positions it as a promising and practical choice for unsupervised clustering in big data applications. WOA-kMedoids has implications for efficient knowledge discovery in massive, unlabeled datasets across various domains.

The optimization of atomic structures plays a pivotal role in understanding and designing materials with desired properties. However, conventional methods often struggle with the formidable task of navigating the vast potential energy surface, especially in high-dimensional spaces with numerous local minima. Recent advancements in machine learning-driven surrogate models offer a promising avenue for alleviating this computational burden. In this study, we propose a novel approach that combines the strengths of universal machine learning potentials with a Bayesian approach of the GOFEE/BEACON framework. By leveraging the comprehensive chemical knowledge encoded in pretrained universal machine learning potentials as a prior estimate of energy and forces, we enable the Gaussian process to focus solely on capturing the intricate nuances of the potential energy surface. We demonstrate the efficacy of our approach through comparative analyses across diverse systems, including periodic bulk materials, surface structures, and a cluster.

In optoelectronics, designing free-form metasurfaces presents significant challenges, particularly in achieving high electromagnetic response fidelity due to the complex relationship between physical structures and electromagnetic behaviors. A key difficulty arises from the one-to-many mapping dilemma, where multiple distinct physical structures can yield similar electromagnetic responses, complicating the design process. This paper introduces a novel generative framework, the Anchor-controlled Generative Adversarial Network (AcGAN), which prioritizes electromagnetic fidelity while effectively navigating the one-to-many challenge to create structurally diverse metasurfaces. Unlike existing methods that mainly replicate physical appearances, AcGAN excels in generating a variety of structures that, despite their differences in physical attributes, exhibit similar electromagnetic responses, thereby accommodating fabrication constraints and tolerances. We introduce the Spectral Overlap Coefficient (SOC) as a precise metric to measure the spectral fidelity between generated designs and their targets. Additionally, a cluster-guided controller refines input processing, ensuring multi-level spectral integration and enhancing electromagnetic fidelity. The integration of AnchorNet into our loss function facilitates a nuanced assessment of electromagnetic qualities, supported by a dynamic loss weighting strategy that optimizes spectral alignment. Collectively, these innovations represent a transformative stride in metasurface inverse design, advancing electromagnetic response-oriented engineering and overcoming the complexities of the one-to-many mapping dilemma.Empirical evidence underscores AcGAN's effectiveness in streamlining the design process, achieving superior electromagnetic precision, and fostering a broad spectrum of design possibilities.

This thesis investigates three areas targeted at improving the reliability of machine learning; fairness in machine learning, strategic classification, and algorithmic robustness. Each of these domains has special properties or structure that can complicate learning. A theme throughout this thesis is thinking about ways in which a'plain' empirical risk minimization algorithm will be misleading or ineffective because of a mis-match between classical learning theory assumptions and specific properties of some data distribution in the wild. The overarching research goal for these related topics is to provide a crisp mathematical model for each learning scenario that exposes different failure modes and makes trade-offs between important metrics explicit in order to provide algorithmic advice or recommendations to practitioners and expose gaps for future research. By tuning our learning algorithms to be more distribution specific in these scenarios, the resulting learned system will exhibit higher utility and avoid catastrophic failure modes. This research is grounded in the theory of machine learning and is fundamentally mathematical in nature, with empirical support when appropriate. Theory is particularly important in these sensitive domains as it is unclear which poor behavior in deployed systems is a natural or benign consequence of a learning system with the underlying distribution,contrasting with problematic but correctable behavior caused by an error in algorithm design or implementation, how to mitigate these issues, or what a successful outcome even looks like in each problem. Theoretical understanding in each domain can help guide best practices and allow for the design of effective, reliable, and robust systems.

Bilevel optimization has witnessed a resurgence of interest, driven by its critical role in trustworthy and efficient machine learning applications. Recent research has focused on proposing efficient methods with provable convergence guarantees. However, while many prior works have established convergence to stationary points or local minima, obtaining the global optimum of bilevel optimization remains an important yet open problem. The difficulty lies in the fact that unlike many prior non-convex single-level problems, this bilevel problem does not admit a ``benign" landscape, and may indeed have multiple spurious local solutions. Nevertheless, attaining the global optimality is indispensable for ensuring reliability, safety, and cost-effectiveness, particularly in high-stakes engineering applications that rely on bilevel optimization. In this paper, we first explore the challenges of establishing a global convergence theory for bilevel optimization, and present two sufficient conditions for global convergence. We provide algorithm-specific proofs to rigorously substantiate these sufficient conditions along the optimization trajectory, focusing on two specific bilevel learning scenarios: representation learning and data hypercleaning (a.k.a. reweighting). Experiments corroborate the theoretical findings, demonstrating convergence to global minimum in both cases.

Stochastic gradient descent (SGD) has proven effective in solving many inventory control problems with demand learning. However, it often faces the pitfall of an infeasible target inventory level that is lower than the current inventory level. Several recent works (e.g., Huh and Rusmevichientong (2009), Shi et al.(2016)) are successful to resolve this issue in various inventory systems. However, their techniques are rather sophisticated and difficult to be applied to more complicated scenarios such as multi-product and multi-constraint inventory systems. In this paper, we address the infeasible-target-inventory-level issue from a new technical perspective -- we propose a novel minibatch-SGD-based meta-policy. Our meta-policy is flexible enough to be applied to a general inventory systems framework covering a wide range of inventory management problems with myopic clairvoyant optimal policy. By devising the optimal minibatch scheme, our meta-policy achieves a regret bound of $\mathcal{O}(\sqrt{T})$ for the general convex case and $\mathcal{O}(\log T)$ for the strongly convex case. To demonstrate the power and flexibility of our meta-policy, we apply it to three important inventory control problems: multi-product and multi-constraint systems, multi-echelon serial systems, and one-warehouse and multi-store systems by carefully designing application-specific subroutines.We also conduct extensive numerical experiments to demonstrate that our meta-policy enjoys competitive regret performance, high computational efficiency, and low variances among a wide range of applications.

Designing a bipedal robot is a complex and challenging task, especially when dealing with a multitude of structural parameters. Traditional design methods often rely on human intuition and experience. However, such approaches are time-consuming, labor-intensive, lack theoretical guidance and hard to obtain optimal design results within vast design spaces, thus failing to full exploit the inherent performance potential of robots. In this context, this paper introduces the SERL (Structure Evolution Reinforcement Learning) algorithm, which combines reinforcement learning for locomotion tasks with evolution algorithms. The aim is to identify the optimal parameter combinations within a given multidimensional design space. Through the SERL algorithm, we successfully designed a bipedal robot named Wow Orin, where the optimal leg length are obtained through optimization based on body structure and motor torque. We have experimentally validated the effectiveness of the SERL algorithm, which is capable of optimizing the best structure within specified design space and task conditions. Additionally, to assess the performance gap between our designed robot and the current state-of-the-art robots, we compared Wow Orin with mainstream bipedal robots Cassie and Unitree H1. A series of experimental results demonstrate the Outstanding energy efficiency and performance of Wow Orin, further validating the feasibility of applying the SERL algorithm to practical design.