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Recent successes in applying reinforcement learning (RL) for robotics has shown it is a viable approach for constructing robotic controllers. However, RL controllers can produce many collisions in environments where new obstacles appear during execution. This poses a problem in safety-critical settings. We present a hybrid approach, called iKinQP-RL, that uses an Inverse Kinematics Quadratic Programming (iKinQP) controller to correct actions proposed by an RL policy at runtime. This ensures safe execution in the presence of new obstacles not present during training. Preliminary experiments illustrate our iKinQP-RL framework completely eliminates collisions with new obstacles while maintaining a high task success rate.

Robot manipulation in real-world settings often requires adapting the robot's behavior to the current situation, such as by changing the sequences in which policies execute to achieve the desired task. Problematically, however, we show that composing a novel sequence of five deep RL options to perform a pick-and-place task is unlikely to successfully complete, even if their initiation and termination conditions align. We propose a framework to determine whether sequences will succeed a priori, and examine three approaches that adapt options to sequence successfully if they will not. Crucially, our adaptation methods consider the actual subset of points that the option is trained from or where it ends: (1) trains the second option to start where the first ends; (2) trains the first option to reach the centroid of where the second starts; and (3) trains the first option to reach the median of where the second starts. Our results show that our framework and adaptation methods have promise in adapting options to work in novel sequences.

Hierarchical Task Network (HTN) planning usually requires a domain engineer to provide manual input about how to decompose a planning problem. Even HTN-MAKER, a well-known method-learning algorithm, requires a domain engineer to annotate the tasks with information about what to learn. We introduce CURRICULAMA, an HTN method learning algorithm that completely automates the learning process. It uses landmark analysis to compose annotated tasks and leverages curriculum learning to order the learning of methods from simpler to more complex. This eliminates the need for manual input, resolving a core issue with HTN-MAKER. We prove CURRICULAMA's soundness, and show experimentally that it has a substantially similar convergence rate in learning a complete set of methods to HTN-MAKER., Comment: This work has been submitted to FLAIRS-24

Agent-based simulation with a synthetic population can help us compare different treatment conditions while keeping everything else constant within the same population (i.e., as digital twins). Such population-scale simulations require large computational power (i.e., CPU resources) to get accurate estimates for treatment effects. We can use meta models of the simulation results to circumvent the need to simulate every treatment condition. Selecting the best estimating model at a given sample size (number of simulation runs) is a crucial problem. Depending on the sample size, the ability of the method to estimate accurately can change significantly. In this paper, we discuss different methods to explore what model works best at a specific sample size. In addition to the empirical results, we provide a mathematical analysis of the MSE equation and how its components decide which model to select and why a specific method behaves that way in a range of sample sizes. The analysis showed why the direction estimation method is better than model-based methods in larger sample sizes and how the between-group variation and the within-group variation affect the MSE equation., Comment: To be presented in 2024 Annual Simulation Conference (ANNSIM'24)

End-user programming (EUP) tools must balance user control with the robot's ability to plan and act autonomously. Many existing task-oriented EUP tools enforce a specific level of control, e.g., by requiring that users hand-craft detailed sequences of actions, rather than offering users the flexibility to choose the level of task detail they wish to express. We thereby created a novel EUP system, Polaris, that in contrast to most existing EUP tools, uses goal predicates as the fundamental building block of programs. Users can thereby express high-level robot objectives or lower-level checkpoints at their choosing, while an off-the-shelf task planner fills in any remaining program detail. To ensure that goal-specified programs adhere to user expectations of robot behavior, Polaris is equipped with a Plan Visualizer that exposes the planner's output to the user before runtime. In what follows, we describe our design of Polaris and its evaluation with 32 human participants. Our results support the Plan Visualizer's ability to help users craft higher-quality programs. Furthermore, there are strong associations between user perception of the robot and Plan Visualizer usage, and evidence that robot familiarity has a key role in shaping user experience., Comment: Published in the proceedings of the 2024 ACM/IEEE International Conference on Human-Robot Interaction

As service robots become more capable of autonomous behaviors, it becomes increasingly important to consider how people communicate with a robot what task it should perform and how to do the task. Accordingly, there has been a rise in attention to end-user development (EUD) interfaces, which enable non-roboticist end users to specify tasks for autonomous robots to perform. However, state-of-the-art EUD interfaces are often constrained through simplified domains or restrictive end-user interaction. Motivated by prior qualitative design work that explores how to integrate a care robot in an assisted living community, we discuss the challenges of EUD in this complex domain. One set of challenges stems from different user-facing representations, e.g., certain tasks may lend themselves better to rule-based trigger-action representations, whereas other tasks may be easier to specify via sequences of actions. The other stems from considering the needs of multiple stakeholders, e.g., caregivers and residents of the facility may all create tasks for the robot, but the robot may not be able to share information about all tasks with all residents due to privacy concerns. We present scenarios that illustrate these challenges and also discuss possible solutions., Comment: Presented at AAAI Fall Symposium Series 2023 UR-RAD

ActorSim is a goal reasoning framework developed at the Naval Research Laboratory. Originally, all goal reasoning rules were hand-crafted. This work extends ActorSim with the capability of learning by demonstration, that is, when a human trainer disagrees with a decision made by the system, the trainer can take over and show the system the correct decision. The learning component uses Ripple-Down Rules (RDR) to build new decision rules to correctly handle similar cases in the future. The system is demonstrated using the RoboCup Rescue Agent Simulation, which simulates a city-wide disaster, requiring emergency services, including fire, ambulance and police, to be dispatched to different sites to evacuate civilians from dangerous situations. The RDRs are implemented in a scripting language, FrameScript, which is used to mediate between ActorSim and the agent simulator. Using Ripple-Down Rules, ActorSim can scale to an order of magnitude more goals than the previous version., Comment: Proceedings of the Ninth Goal Reasoning Workshop (Advances in Cognitive Systems, 2021)

The rapid advance of generative AI is reshaping the strategic vision for R&D across industries. The unique challenges of pharmaceutical R&D will see applications of generative AI deliver value along the entire value chain from early discovery to regulatory approval. This perspective reviews these challenges and takes a three-horizon approach to explore the generative AI applications already delivering impact, the disruptive opportunities which are just around the corner, and the longer-term transformation which will shape the future of the industry. Selected applications are reviewed for their potential to drive increase productivity, accelerate timelines, improve the quality of research, data and decision making, and support a sustainable future for the industry. Recommendations are given for Pharma R&D leaders developing a generative AI strategy today which will lay the groundwork for getting real value from the technology and safeguarding future growth. Generative AI is today providing new, efficient routes to accessing and combining organisational data to drive productivity. Next, this impact will reach clinical development, enhancing the patient experience, driving operational efficiency, and unlocking digital innovation to better tackle the future burden of disease. Looking to the furthest horizon, rapid acquisition of rich multi-omics data, which capture the 'language of life', in combination with next generation AI technologies will allow organisations to close the loop around phases of the pipeline through rapid, automated generation and testing of hypotheses from bench to bedside. This provides a vision for the future of R&D with sustainability at the core, with reduced timescales and reduced dependency on resources, while offering new hope to patients to treat the untreatable and ultimately cure diseases., Comment: 21 pages, 4 figures

Large-scale models require substantial computational resources for analysis and studying treatment conditions. Specifically, estimating treatment effects using simulations may require a lot of infeasible resources to allocate at every treatment condition. Therefore, it is essential to develop efficient methods to allocate computational resources for estimating treatment effects. Agent-based simulation allows us to generate highly realistic simulation samples. FRED (A Framework for Reconstructing Epidemiological Dynamics) is an agent-based modeling system with a geospatial perspective using a synthetic population constructed based on the U.S. census data. Given its synthetic population, FRED simulations present a baseline for comparable results from different treatment conditions and treatment conditions. In this paper, we show three other methods for estimating treatment effects. In the first method, we resort to brute-force allocation, where all treatment conditions have an equal number of samples with a relatively large number of simulation runs. In the second method, we try to reduce the number of simulation runs by customizing individual samples required for each treatment effect based on the width of confidence intervals around the mean estimates. In the third method, we use a regression model, which allows us to learn across the treatment conditions such that simulation samples allocated for a treatment condition will help better estimate treatment effects in other conditions. We show that the regression-based methods result in a comparable estimate of treatment effects with less computational resources. The reduced variability and faster convergence of model-based estimates come at the cost of increased bias, and the bias-variance trade-off can be controlled by adjusting the number of model parameters (e.g., including higher-order interaction terms in the regression model)., Comment: To be presented in IEEE International Conference on Biomedical and Health Informatics 2023, repository link: https://github.com/abdulrahmanfci/intervention-estimation

Phrase structure trees have a hierarchical structure. In many subjects, most notably in Taxonomy such tree structures have been studied using ultrametrics. Here syntactical hierarchical phrase trees are subject to a similar analysis, which is much simpler as the branching structure is more readily discernible and switched. The occurrence of hierarchical structure elsewhere in linguistics is mentioned. The phrase tree can be represented by a matrix and the elements of the matrix can be represented by triangles. The height at which branching occurs is not prescribed in previous syntactic models, but it is by using the ultrametric matrix. In other words the ultrametric approach gives a complete description of phrase trees, unlike previous approaches. The ambiguity of which branching height to choose, is resolved by postulating that branching occurs at the lowest height available. An ultrametric produces a measure of the complexity of sentences: presumably the complexity of sentences increases as a language is acquired so that this can be tested. All ultrametric triangles are equilateral or isoceles, here it is shown that \={X} structure implies that there are no equilateral triangles. Restricting attention to simple syntax a minimum ultrametric distance between lexical categories is calculated. This ultrametric distance is shown to be different than the matrix obtained from features. It is shown that the definition of {\sc c-command} can be replaced by an equivalent ultrametric definition. The new definition invokes a minimum distance between nodes and this is more aesthetically satisfying than previous varieties of definitions. From the new definition of {\sc c-command} follows a new definition of {\sc government}.

Computational models help decision makers understand epidemic dynamics to optimize public health interventions. Agent-based simulation of disease spread in synthetic populations allows us to compare and contrast different effects across identical populations or to investigate the effect of interventions keeping every other factor constant between ``digital twins''. FRED (A Framework for Reconstructing Epidemiological Dynamics) is an agent-based modeling system with a geo-spatial perspective using a synthetic population that is constructed based on the U.S. census data. In this paper, we show how Gaussian process regression can be used on FRED-synthesized data to infer the differing spatial dispersion of the epidemic dynamics for two disease conditions that start from the same initial conditions and spread among identical populations. Our results showcase the utility of agent-based simulation frameworks such as FRED for inferring differences between conditions where controlling for all confounding factors for such comparisons is next to impossible without synthetic data., Comment: To be presented in Winter Simulation Conference 2023, repository link: https://github.com/abdulrahmanfci/gpr-abm

Convolutional neural networks (CNNs) have achieved impressive results on imbalanced image data, but they still have difficulty generalizing to minority classes and their decisions are difficult to interpret. These problems are related because the method by which CNNs generalize to minority classes, which requires improvement, is wrapped in a blackbox. To demystify CNN decisions on imbalanced data, we focus on their latent features. Although CNNs embed the pattern knowledge learned from a training set in model parameters, the effect of this knowledge is contained in feature and classification embeddings (FE and CE). These embeddings can be extracted from a trained model and their global, class properties (e.g., frequency, magnitude and identity) can be analyzed. We find that important information regarding the ability of a neural network to generalize to minority classes resides in the class top-K CE and FE. We show that a CNN learns a limited number of class top-K CE per category, and that their number and magnitudes vary based on whether the same class is balanced or imbalanced. This calls into question whether a CNN has learned intrinsic class features, or merely frequently occurring ones that happen to exist in the sampled class distribution. We also hypothesize that latent class diversity is as important as the number of class examples, which has important implications for re-sampling and cost-sensitive methods. These methods generally focus on rebalancing model weights, class numbers and margins; instead of diversifying class latent features through augmentation. We also demonstrate that a CNN has difficulty generalizing to test data if the magnitude of its top-K latent features do not match the training set. We use three popular image datasets and two cost-sensitive algorithms commonly employed in imbalanced learning for our experiments.