Online decision systems routinely operate under delayed feedback and order-sensitive (noncommutative) dynamics: actions affect which observations arrive, and in what sequence. Taking a Bregman divergence $D_Φ$ as the loss benchmark, we prove that the excess benchmark loss admits a structured lower bound $L \ge L_{\mathrm{ideal}} + g_1(λ) + g_2(\varepsilon_\star) + g_{12}(λ,\varepsilon_\star) - D_{\mathrm{ncx}}$, where $g_1$ and $g_2$ are calibrated penalties for latency and order-sensitivity, $g_{12}$ captures their geometric interaction, and $D_{\mathrm{ncx}}\ge 0$ is a nonconvexity/approximation penalty that vanishes under convex Legendre assumptions. We extend this inequality to prox-regular and weakly convex settings, obtaining robust guarantees beyond the convex case. We also give an operational recipe for estimating and monitoring the four terms via simple $2\times 2$ randomized experiments and streaming diagnostics (effective sample size, clipping rate, interaction heatmaps). The framework packages heterogeneous latency, noncommutativity, and implementation-gap effects into a single interpretable lower-bound statement that can be stress-tested and tuned in real-world systems.

Differentiable structure learning is a novel line of causal discovery research that transforms the combinatorial optimization of structural models into a continuous optimization problem. However, the field has lacked feasible methods to integrate partial order constraints, a critical prior information typically used in real-world scenarios, into the differentiable structure learning framework. The main difficulty lies in adapting these constraints, typically suited for the space of total orderings, to the continuous optimization context of structure learning in the graph space. To bridge this gap, this paper formalizes a set of equivalent constraints that map partial orders onto graph spaces and introduces a plug-and-play module for their efficient application. This module preserves the equivalent effect of partial order constraints in the graph space, backed by theoretical validations of correctness and completeness. It significantly enhances the quality of recovered structures while maintaining good efficiency, which learns better structures using 90% fewer samples than the data-based method on a real-world dataset. This result, together with a comprehensive evaluation on synthetic cases, demonstrates our method's ability to effectively improve differentiable structure learning with partial orders.

We present a coordination method for multiple mobile manipulators to sort objects in clutter. We consider the object rearrangement problem in which the objects must be sorted into different groups in a particular order. In clutter, the order constraints could not be easily satisfied since some objects occlude other objects so the occluded ones are not directly accessible to the robots. Those objects occluding others need to be moved more than once to make the occluded objects accessible. Such rearrangement problems fall into the class of nonmonotone rearrangement problems which are computationally intractable. While the nonmonotone problems with order constraints are harder, involving with multiple robots requires another computation for task allocation. The proposed method first finds a sequence of objects to be sorted using a search such that the order constraint in each group is satisfied. The search can solve nonmonotone instances that require temporal relocation of some objects to access the next object to be sorted. Once a complete sorting sequence is found, the objects in the sequence are assigned to multiple mobile manipulators using a greedy allocation method. We develop four versions of the method with different search strategies. In the experiments, we show that our method can find a sorting sequence quickly (e.g., 4.6 sec with 20 objects sorted into five groups) even though the solved instances include hard nonmonotone ones. The extensive tests and the experiments in simulation show the ability of the method to solve the real-world sorting problem using multiple mobile manipulators.

Optimal transport is a framework for comparing measures whereby a cost is incurred for transporting one measure to another. Recent works have aimed to improve optimal transport plans through the introduction of various forms of structure. We introduce novel order constraints into the optimal transport formulation to allow for the incorporation of structure. While there will are now quadratically many constraints as before, we prove a $\delta-$approximate solution to the order-constrained optimal transport problem can be obtained in $\mathcal{O}(L^2\delta^{-2} \kappa(\delta(2cL_\infty (1+(mn)^{1/2}))^{-1}) \cdot mn\log mn)$ time. We derive computationally efficient lower bounds that allow for an explainable approach to adding structure to the optimal transport plan through order constraints. We demonstrate experimentally that order constraints improve explainability using the e-SNLI (Stanford Natural Language Inference) dataset that includes human-annotated rationales for each assignment.

We present a method for learning the parameters of a Bayesian network with prior knowledge about the signs of influences between variables. Our method accommodates not just the standard signs, but provides for context-specific signs as well. We show how the various signs translate into order constraints on the network parameters and how isotonic regression can be used to compute order-constrained estimates from the available data. Our experimental results show that taking prior knowledge about the signs of influences into account leads to an improved fit of the true distribution, especially when only a small sample of data is available. Moreover, the computed estimates are guaranteed to be consistent with the specified signs, thereby resulting in a network that is more likely to be accepted by experts in its domain of application.

We propose a new method for parameter learning in Bayesian networks with qualitative influences. This method extends our previous work from networks of binary variables to networks of discrete variables with ordered values. The specified qualitative influences correspond to certain order restrictions on the parameters in the network. These parameters may therefore be estimated using constrained maximum likelihood estimation. We propose an alternative method, based on the isotonic regression. The constrained maximum likelihood estimates are fairly complicated to compute, whereas computation of the isotonic regression estimates only requires the repeated application of the Pool Adjacent Violators algorithm for linear orders. Therefore, the isotonic regression estimator is to be preferred from the viewpoint of computational complexity. Through experiments on simulated and real data, we show that the new learning method is competitive in performance to the constrained maximum likelihood estimator, and that both estimators improve on the standard estimator.

We propose efficient algorithms for learning ranking functions from order constraints between sets--i.e.

We propose efficient algorithms for learning ranking functions from order constraints between sets--i.e.

We propose efficient algorithms for learning ranking functions from order constraintsbetween sets--i.e.