The ability to optimize multiple competing objective functions with high sample efficiency is imperative in many applied problems across science and industry. Multi-objective Bayesian optimization (BO) achieves strong empirical performance on such problems, but even with recent methodological advances, it has been restricted to simple, low-dimensional domains. Most existing BO methods exhibit poor performance on search spaces with more than a few dozen parameters. In this work we propose MORBO, a method for multi-objective Bayesian optimization over high-dimensional search spaces. MORBO performs local Bayesian optimization within multiple trust regions simultaneously, allowing it to explore and identify diverse solutions even when the objective functions are difficult to model globally. We show that MORBO significantly advances the state-of-the-art in sample-efficiency for several high-dimensional synthetic and real-world multi-objective problems, including a vehicle design problem with 222 parameters, demonstrating that MORBO is a practical approach for challenging and important problems that were previously out of reach for BO methods.

In [12], Mourtada, Ga\"{i}ffas and Scornet showed that, under proper tuning of the complexity parameters, random trees and forests built from the Mondrian process in $\mathbb{R}^d$ achieve the minimax rate for $\beta$-H\"{o}lder continuous functions, and random forests achieve the minimax rate for $(1+\beta)$-H\"{o}lder functions in arbitrary dimension. In this work, we show that a much larger class of random forests built from random partitions of $\mathbb{R}^d$ also achieve these minimax rates. This class includes STIT random forests, the most general class of random forests built from a self-similar and stationary partition of $\mathbb{R}^d$ by hyperplane cuts possible, as well as forests derived from Poisson hyperplane tessellations. Our proof technique relies on classical results as well as recent advances on stationary random tessellations in stochastic geometry.

Current GNN-oriented NAS methods focus on the search for different layer aggregate components with shallow and simple architectures, which are limited by the 'over-smooth' problem. To further explore the benefits from structural diversity and depth of GNN architectures, we propose a GNN generation pipeline with a novel two-stage search space, which aims at automatically generating high-performance while transferable deep GNN models in a block-wise manner. Meanwhile, to alleviate the 'over-smooth' problem, we incorporate multiple flexible residual connection in our search space and apply identity mapping in the basic GNN layers. For the search algorithm, we use deep-q-learning with epsilon-greedy exploration strategy and reward reshaping. Extensive experiments on real-world datasets show that our generated GNN models outperforms existing manually designed and NAS-based ones.

When humans are given a policy to execute, there can be policy execution errors and deviations in execution if there is uncertainty in identifying a state. So an algorithm that computes a policy for a human to execute ought to consider these effects in its computations. An optimal MDP policy that is poorly executed (because of a human agent) maybe much worse than another policy that is executed with fewer errors. In this paper, we consider the problems of erroneous execution and execution delay when computing policies for a human agent that would act in a setting modeled by a Markov Decision Process. We present a framework to model the likelihood of policy execution errors and likelihood of non-policy actions like inaction (delays) due to state uncertainty. This is followed by a hill climbing algorithm to search for good policies that account for these errors. We then use the best policy found by hill climbing with a branch and bound algorithm to find the optimal policy. We show experimental results in a Gridworld domain and analyze the performance of the two algorithms. We also present human studies that verify if our assumptions on policy execution by humans under state-aliasing are reasonable.

Non-prehensile multi-object rearrangement is a robotic task of planning feasible paths and transferring multiple objects to their predefined target poses without grasping. It needs to consider how each object reaches the target and the order of object movement, which significantly deepens the complexity of the problem. To address these challenges, we propose a hierarchical policy to divide and conquer for non-prehensile multi-object rearrangement. In the high-level policy, guided by a designed policy network, the Monte Carlo Tree Search efficiently searches for the optimal rearrangement sequence among multiple objects, which benefits from imitation and reinforcement. In the low-level policy, the robot plans the paths according to the order of path primitives and manipulates the objects to approach the goal poses one by one. We verify through experiments that the proposed method can achieve a higher success rate, fewer steps, and shorter path length compared with the state-of-the-art.

Computer science is about understanding computer systems and networks at a deep level. Computers and the programs they run are among the most complex products ever created; designing and using them effectively presents immense challenges. Facing these challenges is the aim of computer science as a practical discipline, and this leads to some fundamental questions. The theories that are now emerging to answer these kinds of questions can be immediately applied to design new computers, programs, networks and systems that are transforming science, business, culture and all other aspects of life. Want to find out more about Computer Science and joint degrees?

In this paper, we explore whether a robot can learn to regrasp a diverse set of objects to achieve various desired grasp poses. Regrasping is needed whenever a robot's current grasp pose fails to perform desired manipulation tasks. Endowing robots with such an ability has applications in many domains such as manufacturing or domestic services. Yet, it is a challenging task due to the large diversity of geometry in everyday objects and the high dimensionality of the state and action space. In this paper, we propose a system for robots to take partial point clouds of an object and the supporting environment as inputs and output a sequence of pick-and-place operations to transform an initial object grasp pose to the desired object grasp poses. The key technique includes a neural stable placement predictor and a regrasp graph based solution through leveraging and changing the surrounding environment. We introduce a new and challenging synthetic dataset for learning and evaluating the proposed approach. In this dataset, we show that our system is able to achieve 73.3% success rate of regrasping diverse objects.

Scheduling decisions in parallel queuing systems arise as a fundamental problem, underlying the dimensioning and operation of many computing and communication systems, such as job routing in data center clusters, multipath communication, and Big Data systems. In essence, the scheduler maps each arriving job to one of the possibly heterogeneous servers while aiming at an optimization goal such as load balancing, low average delay or low loss rate. One main difficulty in finding optimal scheduling decisions here is that the scheduler only partially observes the impact of its decisions, e.g., through the delayed acknowledgements of the served jobs. In this paper, we provide a partially observable (PO) model that captures the scheduling decisions in parallel queuing systems under limited information of delayed acknowledgements. We present a simulation model for this PO system to find a near-optimal scheduling policy in real-time using a scalable Monte Carlo tree search algorithm. We numerically show that the resulting policy outperforms other limited information scheduling strategies such as variants of Join-the-Most-Observations and has comparable performance to full information strategies like: Join-the-Shortest-Queue, Join-the- Shortest-Queue(d) and Shortest-Expected-Delay. Finally, we show how our approach can optimise the real-time parallel processing by using network data provided by Kaggle.

One of the challenges faced by conversational agents is their inability to identify unstated presumptions of their users' commands, a task trivial for humans due to their common sense. In this paper, we propose a zero-shot commonsense reasoning system for conversational agents in an attempt to achieve this. Our reasoner uncovers unstated presumptions from user commands satisfying a general template of if-(state), then-(action), because-(goal). Our reasoner uses a state-of-the-art transformer-based generative commonsense knowledge base (KB) as its source of background knowledge for reasoning. We propose a novel and iterative knowledge query mechanism to extract multi-hop reasoning chains from the neural KB which uses symbolic logic rules to significantly reduce the search space. Similar to any KBs gathered to date, our commonsense KB is prone to missing knowledge. Therefore, we propose to conversationally elicit the missing knowledge from human users with our novel dynamic question generation strategy, which generates and presents contextualized queries to human users. We evaluate the model with a user study with human users that achieves a 35% higher success rate compared to SOTA.

Deep learning approaches have shown promising results in solving routing problems. However, there is still a substantial gap in solution quality between machine learning and operations research algorithms. Recently, another line of research has been introduced that fuses the strengths of machine learning and operational research algorithms. In particular, search perturbation operators have been used to improve the solution. Nevertheless, using the perturbation may not guarantee a quality solution. This paper presents "Learning to Guide Local Search" (L2GLS), a learning-based approach for routing problems that uses a penalty term and reinforcement learning to adaptively adjust search efforts. L2GLS combines local search (LS) operators' strengths with penalty terms to escape local optimals. Routing problems have many practical applications, often presetting larger instances that are still challenging for many existing algorithms introduced in the learning to optimise field. We show that L2GLS achieves the new state-of-the-art results on larger TSP and CVRP over other machine learning methods.