We investigate a learning decision support system for vehicle routing, where the routing engine learns implicit preferences that human planners have when manually creating route plans (or routings). The goal is to use these learned subjective preferences on top of the distance-based objective criterion in vehicle routing systems. This is an alternative to the practice of distinctively formulating a custom VRP for every company with its own routing requirements. Instead, we assume the presence of past vehicle routing solutions over similar sets of customers, and learn to make similar choices. The learning approach is based on the concept of learning a Markov model, which corresponds to a probabilistic transition matrix, rather than a deterministic distance matrix. This nevertheless allows us to use existing arc routing VRP software in creating the actual routings, and to optimize over both distances and preferences at the same time. For the learning, we explore different schemes to construct the probabilistic transition matrix that can co-evolve with changing preferences over time. Our results on a use-case with a small transportation company show that our method is able to generate results that are close to the manually created solutions, without needing to characterize all constraints and sub-objectives explicitly. Even in the case of changes in the customer sets, our method is able to find solutions that are closer to the actual routings than when using only distances, and hence, solutions that require fewer manual changes when transformed into practical routings.

Abstract-- This work presents a methodology to design trajectory tracking feedback control laws, which embed nonparametric statistical models, such as Gaussian Processes (GPs). The aim is to minimize unmodeled dynamics such as undesired slippages. The proposed approach has the benefit of avoiding complex terramechanics analysis to directly estimate from data the robot dynamics on a wide class of trajectories. Experiments in both real and simulated environments prove that the proposed methodology is promising. In the last decades, an increasing interest has been devoted to the design of high performance path tracking. In the literature, three main approaches to face this problem have emerged: (i) model-based and adaptive control [1]-[5]; (ii) Gaussian Processes or stochastic nonlinear models for reinforcement learning of control policies [6], [7], and (iii) nominal models and data-driven estimation of the residual [8], [9].

We propose a method to infer causal structures containing both discrete and continuous variables. The idea is to select causal hypotheses for which the conditional density of every variable, given its causes, becomes smooth. We define a family of smooth densities and conditional densities by second order exponential models, i.e., by maximizing conditional entropy subject to first and second statistical moments. If some of the variables take only values in proper subsets of R^n, these conditionals can induce different families of joint distributions even for Markov-equivalent graphs. We consider the case of one binary and one real-valued variable where the method can distinguish between cause and effect. Using this example, we describe that sometimes a causal hypothesis must be rejected because P(effect|cause) and P(cause) share algorithmic information (which is untypical if they are chosen independently). This way, our method is in the same spirit as faithfulness-based causal inference because it also rejects non-generic mutual adjustments among DAG-parameters.