Developing safety and efficiency applications for Connected and Automated Vehicles (CAVs) require a great deal of testing and evaluation. The need for the operation of these systems in critical and dangerous situations makes the burden of their evaluation very costly, possibly dangerous, and time-consuming. As an alternative, researchers attempt to study and evaluate their algorithms and designs using simulation platforms. Modeling the behavior of drivers or human operators in CAVs or other vehicles interacting with them is one of the main challenges of such simulations. While developing a perfect model for human behavior is a challenging task and an open problem, we present a significant augmentation of the current models used in simulators for driver behavior. In this paper, we present a simulation platform for a hybrid transportation system that includes both human-driven and automated vehicles. In addition, we decompose the human driving task and offer a modular approach to simulating a large-scale traffic scenario, allowing for a thorough investigation of automated and active safety systems. Such representation through Interconnected modules offers a human-interpretable system that can be tuned to represent different classes of drivers. Additionally, we analyze a large driving dataset to extract expressive parameters that would best describe different driving characteristics. Finally, we recreate a similarly dense traffic scenario within our simulator and conduct a thorough analysis of various human-specific and system-specific factors, studying their effect on traffic network performance and safety.

The need for fully human-understandable models is increasingly being recognised as a central theme in AI research. The acceptance of AI models to assist in decision making in sensitive domains will grow when these models are interpretable, and this trend towards interpretable models will be amplified by upcoming regulations. One of the killer applications of interpretable AI is medical practice, which can benefit from accurate decision support methodologies that inherently generate trust. In this work, we propose FPT, (MedFP), a novel method that combines probabilistic trees and fuzzy logic to assist clinical practice. This approach is fully interpretable as it allows clinicians to generate, control and verify the entire diagnosis procedure; one of the methodology's strength is the capability to decrease the frequency of misdiagnoses by providing an estimate of uncertainties and counterfactuals. Our approach is applied as a proof-of-concept to two real medical scenarios: classifying malignant thyroid nodules and predicting the risk of progression in chronic kidney disease patients. Our results show that probabilistic fuzzy decision trees can provide interpretable support to clinicians, furthermore, introducing fuzzy variables into the probabilistic model brings significant nuances that are lost when using the crisp thresholds set by traditional probabilistic decision trees. We show that FPT and its predictions can assist clinical practice in an intuitive manner, with the use of a user-friendly interface specifically designed for this purpose. Moreover, we discuss the interpretability of the FPT model.

We propose TR0N, a highly general framework to turn pre-trained unconditional generative models, such as GANs and VAEs, into conditional models. The conditioning can be highly arbitrary, and requires only a pre-trained auxiliary model. For example, we show how to turn unconditional models into class-conditional ones with the help of a classifier, and also into text-to-image models by leveraging CLIP. TR0N learns a lightweight stochastic mapping which "translates" between the space of conditions and the latent space of the generative model, in such a way that the generated latent corresponds to a data sample satisfying the desired condition. The translated latent samples are then further improved upon through Langevin dynamics, enabling us to obtain higher-quality data samples. TR0N requires no training data nor fine-tuning, yet can achieve a zero-shot FID of 10.9 on MS-COCO, outperforming competing alternatives not only on this metric, but also in sampling speed -- all while retaining a much higher level of generality. Our code is available at https://github.com/layer6ai-labs/tr0n.

Physical human-robot collaboration (pHRC) requires both compliance and safety guarantees since robots coordinate with human actions in a shared workspace. This paper presents a novel fixed-time adaptive neural control methodology for handling time-varying workspace constraints that occur in physical human-robot collaboration while also guaranteeing compliance during intended force interactions. The proposed methodology combines the benefits of compliance control, time-varying integral barrier Lyapunov function (TVIBLF) and fixed-time techniques, which not only achieve compliance during physical contact with human operators but also guarantee time-varying workspace constraints and fast tracking error convergence without any restriction on the initial conditions. Furthermore, a neural adaptive control law is designed to compensate for the unknown dynamics and disturbances of the robot manipulator such that the proposed control framework is overall fixed-time converged and capable of online learning without any prior knowledge of robot dynamics and disturbances. The proposed approach is finally validated on a simulated two-link robot manipulator. Simulation results show that the proposed controller is superior in the sense of both tracking error and convergence time compared with the existing barrier Lyapunov functions based controllers, while simultaneously guaranteeing compliance and safety.

For example, the total sales of a product in a country can be divided into regions and then into sub-regions. Forecasts of hierarchical time series should be coherent; for instance, the sum of the forecasts of the different regions should be equal to the forecast for the entire country. Forecasts are incoherent if they do not satisfy such constraints. Reconciliation methods [13, 31] compute coherent forecasts by combining the base forecasts generated independently for each time series, possibly incorporating non-negativity constraints [32]. Reconciled forecasts are generally more accurate than the base forecasts; indeed, forecast reconciliation is related to forecast combination [9, 6]. A special case of reconciliation is constituted by temporal hierarchies [1], which reconcile base forecasts computed for the same variable at different frequencies (e.g., monthly, quarterly and yearly); they generally improve the forecasts [19] of smooth and intermittent time series. As for probabilistic reconciliation, [25] proposed a seminal framework which interprets reconciliation as a projection.

Autonomous driving feedback control loops [2], [3], [4], [5], [6], [7], [8], [9],;10], [11] and decision-making systems [12], [13], [14], [15] depend on the effectiveness of information collection and learning the knowledge of vehicle motions, including the ego-vehicle and other nearby vehicles. Knowing the information, the autonomous vehicles can estimate the behaviors and future positions of others so as to determine the way of behaving in current traffic scenario. Therefore, the knowledge of vehicles at current moment on motions and states are particularly essential for autonomous driving. As for autonomous vehicles driving on the road, the sensor suite deployed on them commonly includes GPS, IMU, Lidars, Cameras and Radars. With the information collected from GPS and IMU, the ego vehicle can measure its states, including the global position, the heading angle that shows the orientation, the linear velocity and angular velocity as well as acceleration.

However, While VAEs are nowadays omnipresent in the field of machine in practice, they suffer from a problem called learning, it is also widely recognized that there remain posterior collapse, which occurs when the encoder in practice some major challenges that still require effective coincides, or collapses, with the prior taking no solutions. Notably, they suffer from the problem of information from the latent structure of the input posterior collapse, which occurs when the distribution corresponding data into consideration. In this work, we introduce to the encoder coincides, or collapses, with the an inverse Lipschitz neural network into the prior taking no information from the latent structure of the decoder and, based on this architecture, provide a input data into consideration. Also known as KL vanishing new method that can control in a simple and clear or over-pruning, this phenomenon makes VAEs incapable manner the degree of posterior collapse for a wide to produce pertinent representations and has been reportedly range of VAE models equipped with a concrete observed in many fields (e.g., Bowman et al. (2016); Fu et al. theoretical guarantee. We also illustrate the effectiveness (2019); Wang & Ziyin (2022); Yeung et al. (2017)). There of our method through several numerical exists now a large body of literature that examines its underlying experiments.

Gaussian process regression is a well-established Bayesian machine learning method. We propose a new approach to Gaussian process regression using quantum kernels based on parameterized quantum circuits. By employing a hardware-efficient feature map and careful regularization of the Gram matrix, we demonstrate that the variance information of the resulting quantum Gaussian process can be preserved. We also show that quantum Gaussian processes can be used as a surrogate model for Bayesian optimization, a task that critically relies on the variance of the surrogate model. To demonstrate the performance of this quantum Bayesian optimization algorithm, we apply it to the hyperparameter optimization of a machine learning model which performs regression on a real-world dataset. We benchmark the quantum Bayesian optimization against its classical counterpart and show that quantum version can match its performance.

Gaussian process regression underpins countless academic and industrial applications of machine learning and statistics, with maximum likelihood estimation routinely used to select appropriate parameters for the covariance kernel. However, it remains an open problem to establish the circumstances in which maximum likelihood estimation is well-posed, that is, when the predictions of the regression model are insensitive to small perturbations of the data. This article identifies scenarios where the maximum likelihood estimator fails to be well-posed, in that the predictive distributions are not Lipschitz in the data with respect to the Hellinger distance. These failure cases occur in the noiseless data setting, for any Gaussian process with a stationary covariance function whose lengthscale parameter is estimated using maximum likelihood. Although the failure of maximum likelihood estimation is part of Gaussian process folklore, these rigorous theoretical results appear to be the first of their kind. The implication of these negative results is that well-posedness may need to be assessed post-hoc, on a case-by-case basis, when maximum likelihood estimation is used to train a Gaussian process model.

Nonlinear systems, such as with degrading hysteretic behavior, are often encountered in engineering applications. In addition, due to the ubiquitous presence of uncertainty and the modeling of such systems becomes increasingly difficult. On the other hand, datasets from pristine models developed without knowing the nature of the degrading effects can be easily obtained. In this paper, we use datasets from pristine models without considering the degrading effects of hysteretic systems as low-fidelity representations that capture many of the important characteristics of the true system's behavior to train a deep operator network (DeepONet). Three numerical examples are used to show that the proposed use of the DeepONets to model the discrepancies between the low-fidelity model and the true system's response leads to significant improvements in the prediction error in the presence of uncertainty in the model parameters for degrading hysteretic systems.