Topology identification and inference of processes evolving over graphs arise in timely applications involving brain, transportation, financial, power, as well as social and information networks. This chapter provides an overview of graph topology identification and statistical inference methods for multidimensional relational data. Approaches for undirected links connecting graph nodes are outlined, going all the way from correlation metrics to covariance selection, and revealing ties with smooth signal priors. To account for directional (possibly causal) relations among nodal variables and address the limitations of linear time-invariant models in handling dynamic as well as nonlinear dependencies, a principled framework is surveyed to capture these complexities through judiciously selected kernels from a prescribed dictionary. Generalizations are also described via structural equations and vector autoregressions that can exploit attributes such as low rank, sparsity, acyclicity, and smoothness to model dynamic processes over possibly time-evolving topologies. It is argued that this approach supports both batch and online learning algorithms with convergence rate guarantees, is amenable to tensor (that is, multi-way array) formulations as well as decompositions that are well-suited for multidimensional network data, and can seamlessly leverage high-order statistical information.

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This book chapter introduces the principles and practical applications of uncertainty quantification in machine learning. It explains how to identify and distinguish between different types of uncertainty and presents methods for quantifying uncertainty in predictive models, including linear regression, random forests, and neural networks. The chapter also covers conformal prediction as a framework for generating predictions with predefined confidence intervals. Finally, it explores how uncertainty estimation can be leveraged to improve business decision-making, enhance model reliability, and support risk-aware strategies.

Large Language Models (LLMs) have the potential to revolutionize data analytics by simplifying tasks such as data discovery and SQL query synthesis through natural language interactions. This work serves as a pivotal first step toward the development of foundation models explicitly designed for data analytics applications. To propel this vision forward, we unveil a new data recipe for post-training LLMs, enhancing their comprehension of data management and empowering them to tackle complex real-world analytics tasks. Specifically, our innovative approach includes a scalable synthetic data generation method that enables the creation of a broad spectrum of topics centered on data representation and manipulation. Furthermore, we introduce two new tasks that seamlessly bridge tables and text. We show that such tasks can enhance models' understanding of schema creation and the nuanced translation between natural language and tabular data. Leveraging this data recipe, we post-train a new foundation model, named CoddLLM, based on Mistral-NeMo-12B. To assess the language understanding and reasoning capabilities of LLMs in the realm of data analytics, we contribute AnalyticsMMLU, a benchmark containing thousands of multiple-choice questions on databases, data analysis, and machine learning. Our focus on data discovery, has resulted in the contribution of three comprehensive benchmarks that address both database and data lake scenarios. CoddLLM not only excels in performance but also sets a new standard, achieving the highest average accuracy across eight datasets. It outperforms GPT-3.5-Turbo on AnalyticsMMLU, exceeding GPT-4o by 12.1% in table selection and showing an average improvement of 24.9% in Text-to-SQL compared to the base model.

This MS thesis outlines my contributions to the closed loop control and system integration of two robotic platforms: 1) Aerobat, a flapping wing robot stabilized by air jets, and 2) Harpy, a bipedal robot equipped with dual thrusters. Both systems share a common theme of the integration of posture manipulation and thrust vectoring to achieve stability and controlled movement. For Aerobat, I developed the software and control architecture that enabled its first untethered flights. The control system combines flapping wing dynamics with multiple air jet stabilization to maintain roll, pitch and yaw stability. These results were published in the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). For Harpy, I implemented a closed-loop control framework that incorporates active thruster assisted frontal dynamics stabilization . My work led to preliminary untethered dynamic walking. This approach demonstrates how thrust assisted stability can enhance locomotion in legged robots which has not been explored before.

Long-form story generation task aims to produce coherent and sufficiently lengthy text, essential for applications such as novel writingand interactive storytelling. However, existing methods, including LLMs, rely on rigid outlines or lack macro-level planning, making it difficult to achieve both contextual consistency and coherent plot development in long-form story generation. To address this issues, we propose Dynamic Hierarchical Outlining with Memory-Enhancement long-form story generation method, named DOME, to generate the long-form story with coherent content and plot. Specifically, the Dynamic Hierarchical Outline(DHO) mechanism incorporates the novel writing theory into outline planning and fuses the plan and writing stages together, improving the coherence of the plot by ensuring the plot completeness and adapting to the uncertainty during story generation. A Memory-Enhancement Module (MEM) based on temporal knowledge graphs is introduced to store and access the generated content, reducing contextual conflicts and improving story coherence. Finally, we propose a Temporal Conflict Analyzer leveraging temporal knowledge graphs to automatically evaluate the contextual consistency of long-form story. Experiments demonstrate that DOME significantly improves the fluency, coherence, and overall quality of generated long stories compared to state-of-the-art methods.

One of the challenges of Industry 4.0, is to determine and optimize the flow of data, products and materials in manufacturing companies. To realize these challenges, many solutions have been defined such as the utilization of automated guided vehicles (AGVs). However, being guided is a handicap for these vehicles to fully meet the requirements of Industry 4.0 in terms of adaptability and flexibility: the autonomy of vehicles cannot be reduced to predetermined trajectories. Therefore, it is necessary to develop their autonomy. This will be possible by designing new generations of industrial autonomous vehicles (IAVs), in the form of intelligent and cooperative autonomous mobile robots.In the field of road transport, research is very active to make the car autonomous. Many algorithms, solving problematic traffic situations similar to those that can occur in an industrial environment, can be transposed in the industrial field and therefore for IAVs. The technologies standardized in dedicated bodies (e.g., ETSI TC ITS), such as those concerning the exchange of messages between vehicles to increase their awareness or their ability to cooperate, can also be transposed to the industrial context. The deployment of intelligent autonomous vehicle fleets raises several challenges: acceptability by employees, vehicle location, traffic fluidity, vehicle perception of changing environments (dynamic), vehicle-infrastructure cooperation, or vehicles heterogeneity. In this context, developing the autonomy of IAVs requires a relevant working method. The identification of reusable or adaptable algorithms to the various problems raised by the increase in the autonomy of IAVs is not sufficient, it is also necessary to be able to model, to simulate, to test and to experiment with the proposed solutions. Simulation is essential since it allows both to adapt and to validate the algorithms, but also to design and to prepare the experiments.To improve the autonomy of a fleet, we consider the approach relying on a collective intelligence to make the behaviours of vehicles adaptive. In this chapter, we will focus on a class of problems faced by IAVs related to collision and obstacle avoidance. Among these problems, we are particularly interested when two vehicles need to cross an intersection at the same time, known as a deadlock situation. But also, when obstacles are present in the aisles and need to be avoided by the vehicles safely.

This paper is intended to appear as a chapter for the Handbook of Markov Chain Monte Carlo. The goal of this chapter is to unify various problems at the intersection of Markov chain Monte Carlo (MCMC) and machine learning$\unicode{x2014}$which includes black-box variational inference, adaptive MCMC, normalizing flow construction and transport-assisted MCMC, surrogate-likelihood MCMC, coreset construction for MCMC with big data, Markov chain gradient descent, Markovian score climbing, and more$\unicode{x2014}$within one common framework. By doing so, the theory and methods developed for each may be translated and generalized.

Designing and developing Artificial Intelligence controllers on separately dedicated chips have many advantages. This report reviews the development of a real-time fuzzy logic controller for optimizing locomotion control of a two-wheeled differential drive platform using an Arduino Uno board. Based on the Raspberry Pi board, fuzzy sets are used to optimize color recognition, enabling the color sensor to correctly recognize color at long distances, across a wide range of light intensity, and with high fault tolerance.

The goal of this project was to have the GPT-4 version of ChatGPT, the latest instructional large language model, generate an entire novel from scratch, including the title, genre, story, characters, settings, and all the writing, with no human input. It is impossible currently to do this using a single prompt ("write me a book"), but what is possible is to supply a series of prompts that give structure to the process and allow it to complete this large task, one step at a time. However, in order to ensure that all the creative work is done by GPT-4, prompts are not allowed to make specific references to the content of the book, only the book's structure. The intention is that the process should be simple, mechanical and possible (in principle) to fully automate. Each time the process is repeated from the beginning, it should create another entirely new book, based solely on GPT-4's independent creative choices.