Flamenco, recognized by UNESCO as part of the Intangible Cultural Heritage of Humanity, is a profound expression of cultural identity rooted in Andalusia, Spain. However, there is a lack of quantitative studies that help identify characteristic patterns in this long-lived music tradition. In this work, we present a computational analysis of Flamenco lyrics, employing natural language processing and machine learning to categorize over 2000 lyrics into their respective Flamenco genres, termed as $\textit{palos}$. Using a Multinomial Naive Bayes classifier, we find that lexical variation across styles enables to accurately identify distinct $\textit{palos}$. More importantly, from an automatic method of word usage, we obtain the semantic fields that characterize each style. Further, applying a metric that quantifies the inter-genre distance we perform a network analysis that sheds light on the relationship between Flamenco styles. Remarkably, our results suggest historical connections and $\textit{palo}$ evolutions. Overall, our work illuminates the intricate relationships and cultural significance embedded within Flamenco lyrics, complementing previous qualitative discussions with quantitative analyses and sparking new discussions on the origin and development of traditional music genres.

Pet-like robots are attracting attention in Japan as companions for people spending time at home amid the spread of coronavirus infections. Some such robots, which are designed to comfort and relax users but do not have specific functions to help them, have been sent to care facilities to alleviate the loneliness of residents who have less in-person contact than before due to the pandemic. The cushion-shaped Qoobo was released by robot maker Yukai Engineering Inc. in 2018. The robot wags its "tail" in line with how strongly it is rubbed by the user. Inspired by the tails of dogs and cats, the company developed the robot for people who cannot have pets.

We introduce a novel framework to identify perception-action loops (PALOs) directly from data based on the principles of computational mechanics. Our approach is based on the notion of causal blanket, which captures sensory and active variables as dynamical sufficient statistics -- i.e. as the "differences that make a difference." Furthermore, our theory provides a broadly applicable procedure to construct PALOs that requires neither a steady-state nor Markovian dynamics. Using our theory, we show that every bipartite stochastic process has a causal blanket, but the extent to which this leads to an effective PALO formulation varies depending on the integrated information of the bipartition.

In spite of the rapidly increasing number of applications of machine learning in various domains, a principled and systematic approach to the incorporation of domain knowledge in the engineering process is still lacking and ad hoc solutions that are difficult to validate are still the norm in practice, which is of growing concern not only in mission-critical applications. In this note, we introduce Probabilistic Approximate Logic (PALO) as a logic based on the notion of mean approximate probability to overcome conceptual and computational difficulties inherent to strictly probabilistic logics. The logic is approximate in several dimensions. Logical independence assumptions are used to obtain approximate probabilities, but by averaging over many instances of formulas a useful estimate of mean probability with known confidence can usually be obtained. To enable efficient computational inference, the logic has a continuous semantics that reflects only a subset of the structural properties of classical logic, but this imprecision can be partly compensated by richer theories obtained by classical inference or other means. Computational inference, which refers to the construction of models and validation of logical properties, is based on Stochastic Gradient Descent (SGD) and Markov Chain Monte Carlo (MCMC) techniques and hence another dimension where approximations are involved. We also present the Logical Imagination Engine (LIME), a prototypical implementation of PALO based on TensorFlow. Albeit not limited to the biological domain, we illustrate its operation in a quite substantial bioinformatics machine learning application concerned with network synthesis and analysis in a recent DARPA project.

We introduce reinforcement learning for heterogeneous teams in which rewards for an agent are additively factored into local costs, stimuli unique to each agent, and global rewards, those shared by all agents in the domain. Motivating domains include coordination of varied robotic platforms, which incur different costs for the same action, but share an overall goal. We present two templates for learning in this setting with factored rewards: a generalization of Perkins' Monte Carlo exploring starts for POMDPs to canonical MPOMDPs, with a single policy mapping joint observations of all agents to joint actions (MCES-MP); and another with each agent individually mapping joint observations to their own action (MCES-FMP). We use probably approximately local optimal (PALO) bounds to analyze sample complexity, instantiating these templates to PALO learning. We promote sample efficiency by including a policy space pruning technique, and evaluate the approaches on three domains of heterogeneous agents demonstrating that MCES-FMP yields improved policies in less samples compared to MCES-MP and a previous benchmark.