No human drives a car in a vacuum; she/he must negotiate with other road users to achieve their goals in social traffic scenes. A rational human driver can interact with other road users in a socially-compatible way through implicit communications to complete their driving tasks smoothly in interaction-intensive, safety-critical environments. This paper aims to review the existing approaches and theories to help understand and rethink the interactions among human drivers toward social autonomous driving. We take this survey to seek the answers to a series of fundamental questions: 1) What is social interaction in road traffic scenes? 2) How to measure and evaluate social interaction? 3) How to model and reveal the process of social interaction? 4) How do human drivers reach an implicit agreement and negotiate smoothly in social interaction? This paper reviews various approaches to modeling and learning the social interactions between human drivers, ranging from optimization theory and graphical models to social force theory and behavioral & cognitive science. We also highlight some new directions, critical challenges, and opening questions for future research.

Federated learning (FL for simplification) is a distributed machine learning technique that utilizes global servers and collaborative clients to achieve privacy-preserving global model training without direct data sharing. However, heterogeneous data problem, as one of FL's main problems, makes it difficult for the global model to perform effectively on each client's local data. Thus, personalized federated learning (PFL for simplification) aims to improve the performance of the model on local data as much as possible. Bayesian learning, where the parameters of the model are seen as random variables with a prior assumption, is a feasible solution to the heterogeneous data problem due to the tendency that the more local data the model use, the more it focuses on the local data, otherwise focuses on the prior. When Bayesian learning is applied to PFL, the global model provides global knowledge as a prior to the local training process. In this paper, we employ Bayesian learning to model PFL by assuming a prior in the scaled exponential family, and therefore propose pFedBreD, a framework to solve the problem we model using Bregman divergence regularization. Empirically, our experiments show that, under the prior assumption of the spherical Gaussian and the first order strategy of mean selection, our proposal significantly outcompetes other PFL algorithms on multiple public benchmarks.

We introduce Probabilistic Rank and Reward (PRR), a scalable probabilistic model for personalized slate recommendation. Our approach allows state-of-the-art estimation of the user interests in the ubiquitous scenario where the user interacts with at most one item from a slate of K items. We show that the probability of a slate being successful can be learned efficiently by combining the reward, whether the user successfully interacted with the slate, and the rank, the item that was selected within the slate. PRR outperforms competing approaches that use one signal or the other and is far more scalable to large action spaces. Moreover, PRR allows fast delivery of recommendations powered by maximum inner product search (MIPS), making it suitable in low latency domains such as computational advertising.

Building on the recent trend of new deep generative models known as Normalizing Flows (NF), simulation-based inference (SBI) algorithms can now efficiently accommodate arbitrary complex and high-dimensional data distributions. The development of appropriate validation methods however has fallen behind. Indeed, most of the existing metrics either require access to the true posterior distribution, or fail to provide theoretical guarantees on the consistency of the inferred approximation beyond the one-dimensional setting. This work proposes easy to interpret validation diagnostics for multi-dimensional conditional (posterior) density estimators based on NF. It also offers theoretical guarantees based on results of local consistency. The proposed workflow can be used to check, analyse and guarantee consistent behavior of the estimator. The method is illustrated with a challenging example that involves tightly coupled parameters in the context of computational neuroscience. This work should help the design of better specified models or drive the development of novel SBI-algorithms, hence allowing to build up trust on their ability to address important questions in experimental science.

Decoders built on Gaussian processes (GPs) are enticing due to the marginalisation over the non-linear function space. Such models (also known as GP-LVMs) are often expensive and notoriously difficult to train in practice, but can be scaled using variational inference and inducing points. In this paper, we revisit active set approximations. We develop a new stochastic estimate of the log-marginal likelihood based on recently discovered links to cross-validation, and we propose a computationally efficient approximation thereof. We demonstrate that the resulting stochastic active sets (SAS) approximation significantly improves the robustness of GP decoder training, while reducing computational cost. The SAS-GP obtains more structure in the latent space, scales to many datapoints, and learns better representations than variational autoencoders, which is rarely the case for GP decoders.

Estimating the uncertainty in deep neural network predictions is crucial for many real-world applications. A common approach to model uncertainty is to choose a parametric distribution and fit the data to it using maximum likelihood estimation. The chosen parametric form can be a poor fit to the data-generating distribution, resulting in unreliable uncertainty estimates. In this work, we propose SampleNet, a flexible and scalable architecture for modeling uncertainty that avoids specifying a parametric form on the output distribution. SampleNets do so by defining an empirical distribution using samples that are learned with the Energy Score and regularized with the Sinkhorn Divergence. SampleNets are shown to be able to well-fit a wide range of distributions and to outperform baselines on large-scale real-world regression tasks.

Agent-Based Models (ABMs) are used in several fields to study the evolution of complex systems from micro-level assumptions. However, ABMs typically can not estimate agent-specific (or "micro") variables: this is a major limitation which prevents ABMs from harnessing micro-level data availability and which greatly limits their predictive power. In this paper, we propose a protocol to learn the latent micro-variables of an ABM from data. The first step of our protocol is to reduce an ABM to a probabilistic model, characterized by a computationally tractable likelihood. This reduction follows two general design principles: balance of stochasticity and data availability, and replacement of unobservable discrete choices with differentiable approximations. Then, our protocol proceeds by maximizing the likelihood of the latent variables via a gradient-based expectation maximization algorithm. We demonstrate our protocol by applying it to an ABM of the housing market, in which agents with different incomes bid higher prices to live in high-income neighborhoods. We demonstrate that the obtained model allows accurate estimates of the latent variables, while preserving the general behavior of the ABM. We also show that our estimates can be used for out-of-sample forecasting. Our protocol can be seen as an alternative to black-box data assimilation methods, that forces the modeler to lay bare the assumptions of the model, to think about the inferential process, and to spot potential identification problems.

Federated Learning enables multiple data centers to train a central model collaboratively without exposing any confidential data. Even though deterministic models are capable of performing high prediction accuracy, their lack of calibration and capability to quantify uncertainty is problematic for safety-critical applications. Different from deterministic models, probabilistic models such as Bayesian neural networks are relatively well-calibrated and able to quantify uncertainty alongside their competitive prediction accuracy. Both of the approaches appear in the federated learning framework; however, the aggregation scheme of deterministic models cannot be directly applied to probabilistic models since weights correspond to distributions instead of point estimates. In this work, we study the effects of various aggregation schemes for variational Bayesian neural networks. With empirical results on three image classification datasets, we observe that the degree of spread for an aggregated distribution is a significant factor in the learning process. Hence, we present an survey on the question of how to combine variational Bayesian networks in federated learning, while providing computer vision classification benchmarks for different aggregation settings.

Offline reinforcement learning, which aims at optimizing sequential decision-making strategies with historical data, has been extensively applied in real-life applications. State-Of-The-Art algorithms usually leverage powerful function approximators (e.g. neural networks) to alleviate the sample complexity hurdle for better empirical performances. Despite the successes, a more systematic understanding of the statistical complexity for function approximation remains lacking. Towards bridging the gap, we take a step by considering offline reinforcement learning with differentiable function class approximation (DFA). This function class naturally incorporates a wide range of models with nonlinear/nonconvex structures. Most importantly, we show offline RL with differentiable function approximation is provably efficient by analyzing the pessimistic fitted Q-learning (PFQL) algorithm, and our results provide the theoretical basis for understanding a variety of practical heuristics that rely on Fitted Q-Iteration style design. In addition, we further improve our guarantee with a tighter instance-dependent characterization. We hope our work could draw interest in studying reinforcement learning with differentiable function approximation beyond the scope of current research.

We mimic the cognitive ability of Human perception, based on Bayesian hypothesis, to recognize view-based 3D objects. We consider approximate Bayesian (Empirical Bayesian) for perceptual inference for recognition. We essentially handle computation with perception.