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Conference paperSukpanichnant P, Rago A, Lertvittayakumjorn P, et al., 2022,
Neural QBAFs: explaining neural networks under LRP-based argumentation frameworks
, International Conference of the Italian Association for Artificial Intelligence, Publisher: Springer International Publishing, Pages: 429-444, ISSN: 0302-9743In recent years, there have been many attempts to combine XAI with the field of symbolic AI in order to generate explanations for neural networks that are more interpretable and better align with human reasoning, with one prominent candidate for this synergy being the sub-field of computational argumentation. One method is to represent neural networks with quantitative bipolar argumentation frameworks (QBAFs) equipped with a particular semantics. The resulting QBAF can then be viewed as an explanation for the associated neural network. In this paper, we explore a novel LRP-based semantics under a new QBAF variant, namely neural QBAFs (nQBAFs). Since an nQBAF of a neural network is typically large, the nQBAF must be simplified before being used as an explanation. Our empirical evaluation indicates that the manner of this simplification is all important for the quality of the resulting explanation.
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Conference paperLim B, Allard M, Grillotti L, et al., 2022,
QDax: on the benefits of massive parallelization for quality-diversity
, Genetic and Evolutionary Computation Conference (GECCO), Publisher: Association for Computing Machinery, Pages: 128-131Quality-Diversity (QD) algorithms are a well-known approach to generate large collections of diverse and high-quality policies. However, QD algorithms are also known to be data-inefficient, requiring large amounts of computational resources and are slow when used in practice for robotics tasks. Policy evaluations are already commonly performed in parallel to speed up QD algorithms but have limited capabilities on a single machine as most physics simulators run on CPUs. With recent advances in simulators that run on accelerators, thousands of evaluations can be performed in parallel on single GPU/TPU. In this paper, we present QDax, an implementation of MAP-Elites which leverages massive parallelism on accelerators to make QD algorithms more accessible. We show that QD algorithms are ideal candidates and can scale with massive parallelism to be run at interactive timescales. The increase in parallelism does not significantly affect the performance of QD algorithms, while reducing experiment runtimes by two factors of magnitudes, turning days of computation into minutes. These results show that QD can now benefit from hardware acceleration, which contributed significantly to the bloom of deep learning.
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Conference paperSchupp S, Leofante F, Behr L, et al., 2022,
Robot swarms as hybrid systems: modelling and verification
, Publisher: Open Publishing Association, Pages: 61-77, ISSN: 2075-2180A swarm robotic system consists of a team of robots performing cooperative tasks without any centralized coordination. In principle, swarms enable flexible and scalable solutions; however, designing individual control algorithms that can guarantee a required global behavior is difficult. Formal methods have been suggested by several researchers as a mean to increase confidence in the behavior of the swarm. In this work, we propose to model swarms as hybrid systems and use reachability analysis to verify their properties. We discuss challenges and report on the experience gained from applying hybrid formalisms to the verification of a swarm robotic system.
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Conference paperLim BWT, Grillotti L, Bernasconi L, et al., 2022,
Dynamics-aware quality-diversity for efficient learning of skill repertoires
, IEEE International Conference on Robotics and Automation, Publisher: IEEE, Pages: 5360-5366Quality-Diversity (QD) algorithms are powerful exploration algorithms that allow robots to discover large repertoires of diverse and high-performing skills. However, QD algorithms are sample inefficient and require millionsof evaluations. In this paper, we propose Dynamics-Aware Quality-Diversity (DA-QD), a framework to improve the sample efficiency of QD algorithms through the use of dynamics models. We also show how DA-QD can then be used for continual acquisition of new skill repertoires. To do so, weincrementally train a deep dynamics model from experience obtained when performing skill discovery using QD. We can then perform QD exploration in imagination with an imagined skill repertoire. We evaluate our approach on three robotic experiments. First, our experiments show DA-QD is 20 timesmore sample efficient than existing QD approaches for skill discovery. Second, we demonstrate learning an entirely new skill repertoire in imagination to perform zero-shot learning. Finally, we show how DA-QD is useful and effective for solving a long horizon navigation task and for damage adaptation in the real world. Videos and source code are available at: https://sites.google.com/view/da-qd.
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Conference paperLim BWT, Reichenbach A, Cully A, 2022,
Learning to walk autonomously via reset-free quality-diversity
, The Genetic and Evolutionary Computation Conference (GECCO)Quality-Diversity (QD) algorithms can discover large and complex behavioural repertoires consisting of both diverse and high-performing skills. However, the generation of behavioural repertoires has mainly been limited to simulation environments instead of real-world learning. This is because existing QD algorithms need large numbers of evaluations as well as episodic resets, which require manual human supervision and interventions. This paper proposes Reset-Free Quality-Diversity optimization (RF-QD) as a step towards autonomous learning for robotics in open-ended environments. We build on Dynamics-Aware Quality-Diversity (DA-QD) and introduce a behaviour selection policy that leverages the diversity of the imagined repertoire and environmental information to intelligently select of behaviours that can act as automatic resets. We demonstrate this through a task of learning to walk within defined training zones with obstacles. Our experiments show that we can learn full repertoires of legged locomotion controllers autonomously without manual resets with high sample efficiency in spite of harsh safety constraints. Finally, using an ablation of different target objectives, we show that it is important for RF-QD to have diverse types solutions available for the behaviour selection policy over solutions optimised with a specific objective. Videos and code available at this https URL.
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Conference paperPierrot T, Macé V, Chalumeau F, et al., 2022,
Diversity Policy Gradient for Sample Efficient Quality-Diversity Optimization
, The Genetic and Evolutionary Computation Conference (GECCO) -
Conference paperAllard M, Smith Bize S, Chatzilygeroudis K, et al., 2022,
Hierarchical Quality-Diversity For Online Damage Recovery
, The Genetic and Evolutionary Computation Conference, Publisher: ACMAdaptation capabilities, like damage recovery, are crucial for the deployment of robots in complex environments. Several works have demonstrated that using repertoires of pre-trained skills can enable robots to adapt to unforeseen mechanical damages in a few minutes. These adaptation capabilities are directly linked to the behavioural diversity in the repertoire. The more alternatives the robot has to execute a skill, the better are the chances that it can adapt to a new situation. However, solving complex tasks, like maze navigation, usually requires multiple different skills. Finding a large behavioural diversity for these multiple skills often leads to an intractable exponential growth of the number of required solutions.In this paper, we introduce the Hierarchical Trial and Error algorithm, which uses a hierarchical behavioural repertoire to learn diverse skills and leverages them to make the robot more adaptive to different situations. We show that the hierarchical decomposition of skills enables the robot to learn more complex behaviours while keeping the learning of the repertoire tractable. The experiments with a hexapod robot show that our method solves maze navigation tasks with 20% less actions in the most challenging scenarios than the best baseline while having 57% less complete failures.
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Journal articleCheng S, Jin Y, Harrison S, et al., 2022,
Parameter flexible wildfire prediction using machine learning techniques: forward and inverse modelling
, Remote Sensing, Vol: 14, ISSN: 2072-4292Parameter identification for wildfire forecasting models often relies on case-by-case tuning or posterior diagnosis/analysis, which can be computationally expensive due to the complexity of the forward prediction model. In this paper, we introduce an efficient parameter flexible fire prediction algorithm based on machine learning and reduced order modelling techniques. Using a training dataset generated by physics-based fire simulations, the method forecasts burned area at different time steps with a low computational cost. We then address the bottleneck of efficient parameter estimation by developing a novel inverse approach relying on data assimilation techniques (latent assimilation) in the reduced order space. The forward and the inverse modellings are tested on two recent large wildfire events in California. Satellite observations are used to validate the forward prediction approach and identify the model parameters. By combining these forward and inverse approaches, the system manages to integrate real-time observations for parameter adjustment, leading to more accurate future predictions.
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Conference paperGrillotti L, Cully A, 2022,
Relevance-guided unsupervised discovery of abilities with quality-diversity algorithms
, Genetic and Evolutionary Computation Conference (GECCO), Publisher: ACM, Pages: 77-85Quality-Diversity algorithms provide efficient mechanisms to generate large collections of diverse and high-performing solutions, which have shown to be instrumental for solving downstream tasks. However, most of those algorithms rely on a behavioural descriptor to characterise the diversity that is hand-coded, hence requiring prior knowledge about the considered tasks. In this work, we introduce Relevance-guided Unsupervised Discovery of Abilities; a Quality-Diversity algorithm that autonomously finds a behavioural characterisation tailored to the task at hand. In particular, our method introduces a custom diversity metric that leads to higher densities of solutions near the areas of interest in the learnt behavioural descriptor space. We evaluate our approach on a simulated robotic environment, where the robot has to autonomously discover its abilities based on its full sensory data. We evaluated the algorithms on three tasks: navigation to random targets, moving forward with a high velocity, and performing half-rolls. The experimental results show that our method manages to discover collections of solutions that are not only diverse, but also well-adapted to the considered downstream task.
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Book chapterLever J, Arcucci R, 2022,
Towards Social Machine Learning for Natural Disasters
, Computational Science – ICCS 2022 22nd International Conference, London, UK, June 21–23, 2022, Proceedings, Part III, Publisher: Springer, Pages: 756-769, ISBN: 9783031087561The four-volume set LNCS 13350, 13351, 13352, and 13353 constitutes the proceedings of the 22ndt International Conference on Computational Science, ICCS 2022, held in London, UK, in June 2022.* The total of 175 full papers and 78 short ...
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Journal articleSchneider R, Bonavita M, Geer A, et al., 2022,
ESA-ECMWF Report on recent progress and research directions in machine learning for Earth System observation and prediction
, NPJ CLIMATE AND ATMOSPHERIC SCIENCE, Vol: 5, ISSN: 2397-3722- Author Web Link
- Cite
- Citations: 8
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Conference paperWard F, Belardinelli F, Toni F, 2022,
Argumentative Reward Learning: Reasoning About Human Preferences
, HMCaT 2022 (ICML) -
Conference paperWard F, Belardinelli F, Toni F, 2022,
Argumentative Reward Learning: Reasoning About Human Preferences
, MPREF 2022 (IJCAI-ECAI 2022) -
Conference paperWard F, Toni F, Belardinelli F, 2022,
A Casual Perspective on AI Deception
, CAUSAL 22 (ICLP) -
Conference paperIrwin B, Rago A, Toni F, 2022,
Argumentative forecasting
, AAMAS 2022, Publisher: ACM, Pages: 1636-1638We introduce the Forecasting Argumentation Framework (FAF), anovel argumentation framework for forecasting informed by re-cent judgmental forecasting research. FAFs comprise update frame-works which empower (human or artificial) agents to argue overtime with and about probability of scenarios, whilst flagging per-ceived irrationality in their behaviour with a view to improvingtheir forecasting accuracy. FAFs include three argument types withfuture forecasts and aggregate the strength of these arguments toinform estimates of the likelihood of scenarios. We describe animplementation of FAFs for supporting forecasting agents.
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Journal articleDmitrewski A, Molina-Solana M, Arcucci R, 2022,
CNTRLDA: A building energy management control system with real-time adjustments. Application to indoor temperature
, BUILDING AND ENVIRONMENT, Vol: 215, ISSN: 0360-1323- Author Web Link
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- Citations: 6
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Journal articleThanaj M, Mielke J, McGurk K, et al., 2022,
Genetic and environmental determinants of diastolic heart function
, Nature Cardiovascular Research, Vol: 1, Pages: 361-371, ISSN: 2731-0590Diastole is the sequence of physiological events that occur in the heart during ventricular filling and principally depends onmyocardial relaxation and chamber stiffness. Abnormal diastolic function is related to many cardiovascular disease processesand is predictive of health outcomes, but its genetic architecture is largely unknown. Here, we use machine learning cardiacmotion analysis to measure diastolic functional traits in 39,559 participants of the UK Biobank and perform a genome-wideassociation study. We identified 9 significant, independent loci near genes that are associated with maintaining sarcomericfunction under biomechanical stress and genes implicated in the development of cardiomyopathy. Age, sex and diabetes wereindependent predictors of diastolic function and we found a causal relationship between genetically-determined ventricularstiffness and incident heart failure. Our results provide insights into the genetic and environmental factors influencing diastolicfunction that are relevant for identifying causal relationships and potential tractable targets.
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Conference paperHenriksen P, Leofante F, Lomuscio A, 2022,
Repairing misclassifications in neural networks using limited data
, SAC '22, Pages: 1031-1038We present a novel and computationally efficient method for repairing a feed-forward neural network with respect to a finite set of inputs that are misclassified. The method assumes no access to the training set. We present a formal characterisation for repairing the neural network and study its resulting properties in terms of soundness and minimality. We introduce a gradient-based algorithm that performs localised modifications to the network's weights such that misclassifications are repaired while marginally affecting network accuracy on correctly classified inputs. We introduce an implementation, I-REPAIR, and show it is able to repair neural networks while reducing accuracy drops by up to 90% when compared to other state-of-the-art approaches for repair.
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Conference paperRago A, Russo F, Albini E, et al., 2022,
Forging argumentative explanations from causal models
, Proceedings of the 5th Workshop on Advances in Argumentation in Artificial Intelligence 2021 co-located with the 20th International Conference of the Italian Association for Artificial Intelligence (AIxIA 2021), Publisher: CEUR Workshop Proceedings, Pages: 1-15, ISSN: 1613-0073We introduce a conceptualisation for generating argumentation frameworks (AFs) from causal models for the purpose of forging explanations for models' outputs. The conceptualisation is based on reinterpreting properties of semantics of AFs as explanation moulds, which are means for characterising argumentative relations. We demonstrate our methodology by reinterpreting the property of bi-variate reinforcement in bipolar AFs, showing how the extracted bipolar AFs may be used as relation-based explanations for the outputs of causal models.
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Journal articleAlAttar A, Chappell D, Kormushev P, 2022,
Kinematic-model-free predictive control for robotic manipulator target reaching with obstacle avoidance
, Frontiers in Robotics and AI, Vol: 9, Pages: 1-9, ISSN: 2296-9144Model predictive control is a widely used optimal control method for robot path planning andobstacle avoidance. This control method, however, requires a system model to optimize controlover a finite time horizon and possible trajectories. Certain types of robots, such as softrobots, continuum robots, and transforming robots, can be challenging to model, especiallyin unstructured or unknown environments. Kinematic-model-free control can overcome thesechallenges by learning local linear models online. This paper presents a novel perception-basedrobot motion controller, the kinematic-model-free predictive controller, that is capable of controllingrobot manipulators without any prior knowledge of the robot’s kinematic structure and dynamicparameters and is able to perform end-effector obstacle avoidance. Simulations and physicalexperiments were conducted to demonstrate the ability and adaptability of the controller toperform simultaneous target reaching and obstacle avoidance.
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