Contingency planning, wherein an agent generates a set of possible plans conditioned on the outcome of an uncertain event, is an increasingly popular way for robots to act under uncertainty. In this work we take a game-theoretic perspective on contingency planning, tailored to multi-agent scenarios in which a robot's actions impact the decisions of other agents and vice versa. The resulting contingency game allows the robot to efficiently interact with other agents by generating strategic motion plans conditioned on multiple possible intents for other actors in the scene. Contingency games are parameterized via a scalar variable which represents a future time when intent uncertainty will be resolved. By estimating this parameter online, we construct a game-theoretic motion planner that adapts to changing beliefs while anticipating future certainty. We show that existing variants of game-theoretic planning under uncertainty are readily obtained as special cases of contingency games. Through a series of simulated autonomous driving scenarios, we demonstrate that contingency games close the gap between certainty-equivalent games that commit to a single hypothesis and non-contingent multi-hypothesis games that do not account for future uncertainty reduction.

The mathematical treatment of inverse problems has proved to be a lively and attractive research field, driven and motivated by a wide variety of applications and by the theoretical challenges induced by their ill-posed nature. In order to provide more accurate and reliable strategies, especially for the reconstruction task, the scientific research in the field has shown a growing interest in the topic of learned reconstruction, or data-driven, methods, to combine classical, model-based approaches with valuable information of statistical nature. This has represented a natural outcome and development of the analysis of inverse problems, both on a numerical and on a theoretical side: indeed, the idea of leveraging prior knowledge on the solution has traditionally been considered to mitigate ill-posedness, as a regularization tool as much as a support for the reconstruction. We have now witnessed the emergence of several learning-based approaches to inverse problems, providing, in many cases, striking numerical results in terms of accuracy and efficiency. Moreover, significant interest has grown in the direction of theoretical guarantees for such techniques, spanning from the demand of interpretability and reliability, up to the issues of stability and convergence [8, 55]. Despite several distinct avenues have emerged, which are now well-established and are developing independently (to name a few: generative models, unrolled techniques, Plug and Play schemes), it is possible to provide a unifying overview of them from the point of view of statistical learning theory [20]. In this context, the goal pursued by this paper is twofold. On the one side, it aims to provide a general theoretical framework in statistical learning that is able to comprehend a large family of data-driven reconstruction methods.

Large language models (LLMs) can produce long, coherent passages of text, suggesting that LLMs, although trained on next-word prediction, must represent the latent structure that characterizes a document. Prior work has found that internal representations of LLMs encode one aspect of latent structure, namely syntax; here we investigate a complementary aspect, namely the document's topic structure. We motivate the hypothesis that LLMs capture topic structure by connecting LLM optimization to implicit Bayesian inference. De Finetti's theorem shows that exchangeable probability distributions can be represented as a mixture with respect to a latent generating distribution. Although text is not exchangeable at the level of syntax, exchangeability is a reasonable starting assumption for topic structure. We thus hypothesize that predicting the next token in text will lead LLMs to recover latent topic distributions. We examine this hypothesis using Latent Dirichlet Allocation (LDA), an exchangeable probabilistic topic model, as a target, and we show that the representations formed by LLMs encode both the topics used to generate synthetic data and those used to explain natural corpus data.

We propose an approach utilizing gamma-distributed random variables, coupled with log-Gaussian modeling, to generate synthetic datasets suitable for training neural networks. This addresses the challenge of limited real observations in various applications. We apply this methodology to both Raman and coherent anti-Stokes Raman scattering (CARS) spectra, using experimental spectra to estimate gamma process parameters. Parameter estimation is performed using Markov chain Monte Carlo methods, yielding a full Bayesian posterior distribution for the model which can be sampled for synthetic data generation. Additionally, we model the additive and multiplicative background functions for Raman and CARS with Gaussian processes. We train two Bayesian neural networks to estimate parameters of the gamma process which can then be used to estimate the underlying Raman spectrum and simultaneously provide uncertainty through the estimation of parameters of a probability distribution. We apply the trained Bayesian neural networks to experimental Raman spectra of phthalocyanine blue, aniline black, naphthol red, and red 264 pigments and also to experimental CARS spectra of adenosine phosphate, fructose, glucose, and sucrose. The results agree with deterministic point estimates for the underlying Raman and CARS spectral signatures.

Alerting the public when heat may harm their health is a crucial service, especially considering that extreme heat events will be more frequent under climate change. Current practice for issuing heat alerts in the US does not take advantage of modern data science methods for optimizing local alert criteria. Specifically, application of reinforcement learning (RL) has the potential to inform more health-protective policies, accounting for regional and sociodemographic heterogeneity as well as sequential dependence of alerts. In this work, we formulate the issuance of heat alerts as a sequential decision making problem and develop modifications to the RL workflow to address challenges commonly encountered in environmental health settings. Key modifications include creating a simulator that pairs hierarchical Bayesian modeling of low-signal health effects with sampling of real weather trajectories (exogenous features), constraining the total number of alerts issued as well as preventing alerts on less-hot days, and optimizing location-specific policies. Post-hoc contrastive analysis offers insights into scenarios when using RL for heat alert issuance may protect public health better than the current or alternative policies. This work contributes to a broader movement of advancing data-driven policy optimization for public health and climate change adaptation.

Human annotations are vital to supervised learning, yet annotators often disagree on the correct label, especially as annotation tasks increase in complexity. A strategy to improve label quality is to ask multiple annotators to label the same item and aggregate their labels. Many aggregation models have been proposed for categorical or numerical annotation tasks, but far less work has considered more complex annotation tasks involving open-ended, multivariate, or structured responses. While a variety of bespoke models have been proposed for specific tasks, our work is the first to introduce aggregation methods that generalize across many diverse complex tasks, including sequence labeling, translation, syntactic parsing, ranking, bounding boxes, and keypoints. This generality is achieved by devising a task-agnostic method to model distances between labels rather than the labels themselves. This article extends our prior work with investigation of three new research questions. First, how do complex annotation properties impact aggregation accuracy? Second, how should a task owner navigate the many modeling choices to maximize aggregation accuracy? Finally, what diagnoses can verify that aggregation models are specified correctly for the given data? To understand how various factors impact accuracy and to inform model selection, we conduct simulation studies and experiments on real, complex datasets. Regarding testing, we introduce unit tests for aggregation models and present a suite of such tests to ensure that a given model is not mis-specified and exhibits expected behavior. Beyond investigating these research questions above, we discuss the foundational concept of annotation complexity, present a new aggregation model as a bridge between traditional models and our own, and contribute a new semi-supervised learning method for complex label aggregation that outperforms prior work.

Diffusion models have gained traction as powerful algorithms for synthesizing high-quality images. Central to these algorithms is the diffusion process, which maps data to noise according to equations inspired by thermodynamics and can significantly impact performance. A widely held assumption is that the ELBO objective of a diffusion model is invariant to the noise process (Kingma et al.,2021). In this work, we dispel this assumption -- we propose multivariate learned adaptive noise (MuLAN), a learned diffusion process that applies Gaussian noise at different rates across an image. Our method consists of three components -- a multivariate noise schedule, instance-conditional diffusion, and auxiliary variables -- which ensure that the learning objective is no longer invariant to the choice of the noise schedule as in previous works. Our work is grounded in Bayesian inference and casts the learned diffusion process as an approximate variational posterior that yields a tighter lower bound on marginal likelihood. Empirically, MuLAN sets a new state-of-the-art in density estimation on CIFAR-10 and ImageNet compared to classical diffusion. Code is available at https://github.com/s-sahoo/MuLAN

This study investigates the misclassification excess risk bound in the context of 1-bit matrix completion, a significant problem in machine learning involving the recovery of an unknown matrix from a limited subset of its entries. Matrix completion has garnered considerable attention in the last two decades due to its diverse applications across various fields. Unlike conventional approaches that deal with real-valued samples, 1-bit matrix completion is concerned with binary observations. While prior research has predominantly focused on the estimation error of proposed estimators, our study shifts attention to the prediction error. This paper offers theoretical analysis regarding the prediction errors of two previous works utilizing the logistic regression model: one employing a max-norm constrained minimization and the other employing nuclear-norm penalization. Significantly, our findings demonstrate that the latter achieves the minimax-optimal rate without the need for an additional logarithmic term. These novel results contribute to a deeper understanding of 1-bit matrix completion by shedding light on the predictive performance of specific methodologies.

Online deep clustering refers to the joint use of a feature extraction network and a clustering model to assign cluster labels to each new data point or batch as it is processed. While faster and more versatile than offline methods, online clustering can easily reach the collapsed solution where the encoder maps all inputs to the same point and all are put into a single cluster. Successful existing models have employed various techniques to avoid this problem, most of which require data augmentation or which aim to make the average soft assignment across the dataset the same for each cluster. We propose a method that does not require data augmentation, and that, differently from existing methods, regularizes the hard assignments. Using a Bayesian framework, we derive an intuitive optimization objective that can be straightforwardly included in the training of the encoder network. Tested on four image datasets and one human-activity recognition dataset, it consistently avoids collapse more robustly than other methods and leads to more accurate clustering. We also conduct further experiments and analyses justifying our choice to regularize the hard cluster assignments. Code is available at https://github.com/Lou1sM/online_hard_clustering.

Models of eye-movement control during reading, developed largely within psychology, usually focus on visual, attentional, lexical, and motor processes but neglect post-lexical language processing; by contrast, models of sentence comprehension processes, developed largely within psycholinguistics, generally focus only on post-lexical language processes. We present a model that combines these two research threads, by integrating eye-movement control and sentence processing. Developing such an integrated model is extremely challenging and computationally demanding, but such an integration is an important step toward complete mathematical models of natural language comprehension in reading. We combine the SWIFT model of eye-movement control (Seelig et al., 2020, doi:10.1016/j.jmp.2019.102313) with key components of the Lewis and Vasishth sentence processing model (Lewis & Vasishth, 2005, doi:10.1207/s15516709cog0000_25). This integration becomes possible, for the first time, due in part to recent advances in successful parameter identification in dynamical models, which allows us to investigate profile log-likelihoods for individual model parameters. We present a fully implemented proof-of-concept model demonstrating how such an integrated model can be achieved; our approach includes Bayesian model inference with Markov Chain Monte Carlo (MCMC) sampling as a key computational tool. The integrated Sentence-Processing and Eye-Movement Activation-Coupled Model (SEAM) can successfully reproduce eye movement patterns that arise due to similarity-based interference in reading. To our knowledge, this is the first-ever integration of a complete process model of eye-movement control with linguistic dependency completion processes in sentence comprehension. In future work, this proof of concept model will need to be evaluated using a comprehensive set of benchmark data.