David Smith

Wayes Tushar, Bo Chai, Chau Yuen et al.

This paper studies the solution of joint energy storage (ES) ownership sharing between multiple shared facility controllers (SFCs) and those dwelling in a residential community. The main objective is to enable the residential units (RUs) to decide on the fraction of their ES capacity that they want to share with the SFCs of the community in order to assist them storing electricity, e.g., for fulfilling the demand of various shared facilities. To this end, a modified auction-based mechanism is designed that captures the interaction between the SFCs and the RUs so as to determine the auction price and the allocation of ES shared by the RUs that governs the proposed joint ES ownership. The fraction of the capacity of the storage that each RU decides to put into the market to share with the SFCs and the auction price are determined by a noncooperative Stackelberg game formulated between the RUs and the auctioneer. It is shown that the proposed auction possesses the incentive compatibility and the individual rationality properties, which are leveraged via the unique Stackelberg equilibrium (SE) solution of the game. Numerical experiments are provided to confirm the effectiveness of the proposed scheme.

Wayes Tushar, Chau Yuen, David Smith et al.

Pricing schemes are an important smart grid feature to affect typical energy usage behavior of energy users (EUs). However, most existing schemes use the assumption that a buyer pays the same price per unit of energy to all suppliers at any particular time when energy is bought. By contrast, here a discriminate pricing technique using game theory is studied. A cake cutting game is investigated, in which participating EUs in a smart community decide on the price per unit of energy to charge a shared facility controller (SFC) in order to sell surplus energy. The focus is to study fairness criteria to maximize sum benefits to EUs and ensure an envy-free energy trading market. A benefit function is designed that leverages generation of discriminate pricing by each EU, according to the amount of surplus energy that an EU trades with the SFC and the EU's sensitivity to price. It is shown that the game possesses a socially optimal, and hence also Pareto optimal, solution. Further, an algorithm that can be implemented by each EU in a distributed manner to reach the optimal solution is proposed. Numerical case studies are given that demonstrate beneficial properties of the scheme.

Wayes Tushar, Jian Andrew Zhang, Chau Yuen et al.

This paper proposes an energy management scheme to maximize the use of solar energy in the smart grid. In this context, a shared facility controller (SFC) with a number of solar photovoltaic (PV) panels in a smart community is considered that has the capability to schedule the generated energy for consumption and trade to other entities. Particularly, a mechanism is designed for the SFC to decide on the energy surplus, if there is any, that it can use to charge its battery and sell to the households and the grid based on the offered prices. In this regard, a hierarchical energy management scheme is proposed with a view to reduce the total operational cost to the SFC. The concept of a virtual cost (VC) is introduced that aids the SFC to estimate its future operational cost based on some available current information. The energy management is conducted for three different cases and the optimal cost to the SFC is determined for each case via the theory of maxima and minima. A real-time algorithm is proposed to reach the optimal cost for all cases and some numerical examples are provided to demonstrate the beneficial properties of the proposed scheme.

Yuning Xing, Dexter Pham, Henry Williams et al.

Smart farming is a growing field as technology advances. Plant characteristics are crucial indicators for monitoring plant growth. Research has been done to estimate characteristics like leaf area index, leaf disease, and plant height. However, few methods have been applied to non-destructive measurements of leaf size. In this paper, an automated non-destructive imaged-based measuring system is presented, which uses 2D and 3D data obtained using a Zivid 3D camera, creating 3D virtual representations (digital twins) of the tomato plants. Leaves are detected from corresponding 2D RGB images and mapped to their 3D point cloud using the detected leaf masks, which then pass the leaf point cloud to the plane fitting algorithm to extract the leaf size to provide data for growth monitoring. The performance of the measurement platform has been measured through a comprehensive trial on real-world tomato plants with quantified performance metrics compared to ground truth measurements. Three tomato leaf and height datasets (including 50+ 3D point cloud files of tomato plants) were collected and open-sourced in this project. The proposed leaf size estimation method demonstrates an RMSE value of 4.47mm and an R^2 value of 0.87. The overall measurement system (leaf detection and size estimation algorithms combine) delivers an RMSE value of 8.13mm and an R^2 value of 0.899.

Emine Kesici, Beatrice Pelloni, Tristan Pryer et al.

We present the numerical solution of two-point boundary value problems for a third order linear PDE, representing a linear evolution in one space dimension. The difficulty of this problem is in the numerical imposition of the boundary conditions, and to our knowledge, no such computations exist. Instead of computing the evolution numerically, we evaluate the solution representation formula obtained by the unified transform of Fokas. This representation involves complex line integrals, but in order to evaluate these integrals numerically, it is necessary to deform the integration contours using appropriate deformation mappings. We formulate a strategy to implement effectively this deformation, which allows us to obtain accurate numerical results.

Nathaniel Chen, Kouroche Bouchiat, Peter Steiner et al.

Next-generation fusion facilities like ITER face a "data deluge," generating petabytes of multi-diagnostic signals daily that challenge manual analysis. We present a "signals-first" self-supervised framework for the automated extraction of coherent and transient modes from high-noise time-frequency data. We also develop a general-purpose method and tool for extracting coherent, quasi-coherent, and transient modes for fluctuation measurements in tokamaks by employing non-linear optimal techniques in multichannel signal processing with a fast neural network surrogate on fast magnetics, electron cyclotron emission, CO2 interferometers, and beam emission spectroscopy measurements from DIII-D. Results are tested on data from DIII-D, TJ-II, and non-fusion spectrograms. With an inference latency of 0.5 seconds, this framework enables real-time mode identification and large-scale automated database generation for advanced plasma control. Repository is in https://github.com/PlasmaControl/TokEye.

Lingyu Gao, Will Monroe, David Smith et al.

Annotating speaker attributes from text is inherently ambiguous, particularly in multilingual settings where demographic and social cues are implicit and culturally variable. We propose a human-large language model (LLM) collaborative re-annotation framework for stabilizing multilingual speaker-attribute labels under practical resource constraints. Starting from a noisy corpus, we use LLMs to surface recurring annotation rationales through iterative interaction with experts, and apply disagreement-focused sampling for targeted re-annotation. Using this framework, we construct WhoSaidIt, a multilingual dataset covering nine speaker-attribute labels. We quantify divergence between original and revised annotations, benchmark recent LLMs, and analyze the effect of explicit rationales on model behavior. Our results reveal substantial cross-lingual differences in annotation decisions and demonstrate both the strengths and limitations of LLMs in speaker-attribute classification.

Ans Qureshi, Neville Loh, Young Min Kwon et al.

Following a global trend, the lack of reliable access to skilled labour is causing critical issues for the effective management of apple orchards. One of the primary challenges is maintaining skilled human operators capable of making precise fruitlet thinning decisions. Thinning requires accurately measuring the true crop load for individual apple trees to provide optimal thinning decisions on an individual basis. A challenging task due to the dense foliage obscuring the fruitlets within the tree structure. This paper presents the initial design, implementation, and evaluation details of the vision system for an automatic apple fruitlet thinning robot to meet this need. The platform consists of a UR5 robotic arm and stereo cameras which enable it to look around the leaves to map the precise number and size of the fruitlets on the apple branches. We show that this platform can measure the fruitlet load on the apple tree to with 84% accuracy in a real-world commercial apple orchard while being 87% precise.

Youyang Qu, Lichuan Ma, Wenjie Ye et al.

The popularization of intelligent healthcare devices and big data analytics significantly boosts the development of smart healthcare networks (SHNs). To enhance the precision of diagnosis, different participants in SHNs share health data that contains sensitive information. Therefore, the data exchange process raises privacy concerns, especially when the integration of health data from multiple sources (linkage attack) results in further leakage. Linkage attack is a type of dominant attack in the privacy domain, which can leverage various data sources for private data mining. Furthermore, adversaries launch poisoning attacks to falsify the health data, which leads to misdiagnosing or even physical damage. To protect private health data, we propose a personalized differential privacy model based on the trust levels among users. The trust is evaluated by a defined community density, while the corresponding privacy protection level is mapped to controllable randomized noise constrained by differential privacy. To avoid linkage attacks in personalized differential privacy, we designed a noise correlation decoupling mechanism using a Markov stochastic process. In addition, we build the community model on a blockchain, which can mitigate the risk of poisoning attacks during differentially private data transmission over SHNs. To testify the effectiveness and superiority of the proposed approach, we conduct extensive experiments on benchmark datasets.

Xincheng Xu, Thilina Ranbaduge, Qing Wang et al.

Differentially Private Stochastic Gradient Descent (DPSGD) is widely used to train deep neural networks with formal privacy guarantees. However, the addition of differential privacy (DP) often degrades model accuracy by introducing both noise and bias. Existing techniques typically address only one of these issues, as reducing DP noise can exacerbate clipping bias and vice-versa. In this paper, we propose a novel method, \emph{DP-PMLF}, which integrates per-sample momentum with a low-pass filtering strategy to simultaneously mitigate DP noise and clipping bias. Our approach uses per-sample momentum to smooth gradient estimates prior to clipping, thereby reducing sampling variance. It further employs a post-processing low-pass filter to attenuate high-frequency DP noise without consuming additional privacy budget. We provide a theoretical analysis demonstrating an improved convergence rate under rigorous DP guarantees, and our empirical evaluations reveal that DP-PMLF significantly enhances the privacy-utility trade-off compared to several state-of-the-art DPSGD variants.

Anja Sheppard, Tyler Smithline, Andrew Scheffer et al.

In this paper, we introduce ShipwreckFinder, an open-source QGIS plugin that detects shipwrecks from multibeam sonar data. Shipwrecks are an important historical marker of maritime history, and can be discovered through manual inspection of bathymetric data. However, this is a time-consuming process and often requires expert analysis. Our proposed tool allows users to automatically preprocess bathymetry data, perform deep learning inference, threshold model outputs, and produce either pixel-wise segmentation masks or bounding boxes of predicted shipwrecks. The backbone of this open-source tool is a deep learning model, which is trained on a variety of shipwreck data from the Great Lakes and the coasts of Ireland. Additionally, we employ synthetic data generation in order to increase the size and diversity of our dataset. We demonstrate superior segmentation performance with our open-source tool and training pipeline as compared to a deep learning-based ArcGIS toolkit and a more classical inverse sinkhole detection method. The open-source tool can be found at https://github.com/umfieldrobotics/ShipwreckFinderQGISPlugin.

Ryan Muther, David Smith

This paper explores new methods for locating the sources used to write a text, by fine-tuning a variety of language models to rerank candidate sources. After retrieving candidates sources using a baseline BM25 retrieval model, a variety of reranking methods are tested to see how effective they are at the task of source attribution. We conduct experiments on two datasets, English Wikipedia and medieval Arabic historical writing, and employ a variety of retrieval and generation based reranking models. In particular, we seek to understand how the degree of supervision required affects the performance of various reranking models. We find that semisupervised methods can be nearly as effective as fully supervised methods while avoiding potentially costly span-level annotation of the target and source documents.

Ryan Muther, David Smith

Most NLP approaches to entity linking and coreference resolution focus on retrieving similar mentions using sparse or dense text representations. The common "Wikification" task, for instance, retrieves candidate Wikipedia articles for each entity mention. For many domains, such as bibliographic citations, authority lists with extensive textual descriptions for each entity are lacking and ambiguous named entities mostly occur in the context of other named entities. Unlike prior work, therefore, we seek to leverage the information that can be gained from looking at association networks of individuals derived from textual evidence in order to disambiguate names. We combine BERT-based mention representations with a variety of graph induction strategies and experiment with supervised and unsupervised cluster inference methods. We experiment with data consisting of lists of names from two domains: bibliographic citations from CrossRef and chains of transmission (isnads) from classical Arabic histories. We find that in-domain language model pretraining can significantly improve mention representations, especially for larger corpora, and that the availability of bibliographic information, such as publication venue or title, can also increase performance on this task. We also present a novel supervised cluster inference model which gives competitive performance for little computational effort, making it ideal for situations where individuals must be identified without relying on an exhaustive authority list.

Ryan Muther, David Smith

Imbalanced classification problems are extremely common in natural language processing and are solved using a variety of resampling and filtering techniques, which often involve making decisions on how to select training data or decide which test examples should be labeled by the model. We examine the tradeoffs in model performance involved in choices of training sample and filter training and test data in heavily imbalanced token classification task and examine the relationship between the magnitude of these tradeoffs and the base rate of the phenomenon of interest. In experiments on sequence tagging to detect rare phenomena in English and Arabic texts, we find that different methods of selecting training data bring tradeoffs in effectiveness and efficiency. We also see that in highly imbalanced cases, filtering test data using first-pass retrieval models is as important for model performance as selecting training data. The base rate of a rare positive class has a clear effect on the magnitude of the changes in performance caused by the selection of training or test data. As the base rate increases, the differences brought about by those choices decreases.

Mengmeng Yang, Ming Ding, Youyang Qu et al.

The worldwide adoption of machine learning (ML) and deep learning models, particularly in critical sectors, such as healthcare and finance, presents substantial challenges in maintaining individual privacy and fairness. These two elements are vital to a trustworthy environment for learning systems. While numerous studies have concentrated on protecting individual privacy through differential privacy (DP) mechanisms, emerging research indicates that differential privacy in machine learning models can unequally impact separate demographic subgroups regarding prediction accuracy. This leads to a fairness concern, and manifests as biased performance. Although the prevailing view is that enhancing privacy intensifies fairness disparities, a smaller, yet significant, subset of research suggests the opposite view. In this article, with extensive evaluation results, we demonstrate that the impact of differential privacy on fairness is not monotonous. Instead, we observe that the accuracy disparity initially grows as more DP noise (enhanced privacy) is added to the ML process, but subsequently diminishes at higher privacy levels with even more noise. Moreover, implementing gradient clipping in the differentially private stochastic gradient descent ML method can mitigate the negative impact of DP noise on fairness. This mitigation is achieved by moderating the disparity growth through a lower clipping threshold.

Kanishka Ranaweera, Dinh C. Nguyen, Pubudu N. Pathirana et al.

In the era of data-driven machine-learning applications, privacy concerns and the scarcity of labeled data have become paramount challenges. These challenges are particularly pronounced in the domain of few-shot learning, where the ability to learn from limited labeled data is crucial. Privacy-preserving few-shot learning algorithms have emerged as a promising solution to address such pronounced challenges. However, it is well-known that privacy-preserving techniques often lead to a drop in utility due to the fundamental trade-off between data privacy and model performance. To enhance the utility of privacy-preserving few-shot learning methods, we introduce a novel approach called Meta-Clip. This technique is specifically designed for meta-learning algorithms, including Differentially Private (DP) model-agnostic meta-learning, DP-Reptile, and DP-MetaSGD algorithms, with the objective of balancing data privacy preservation with learning capacity maximization. By dynamically adjusting clipping thresholds during the training process, our Adaptive Clipping method provides fine-grained control over the disclosure of sensitive information, mitigating overfitting on small datasets and significantly improving the generalization performance of meta-learning models. Through comprehensive experiments on diverse benchmark datasets, we demonstrate the effectiveness of our approach in minimizing utility degradation, showcasing a superior privacy-utility trade-off compared to existing privacy-preserving techniques. The adoption of Adaptive Clipping represents a substantial step forward in the field of privacy-preserving few-shot learning, empowering the development of secure and accurate models for real-world applications, especially in scenarios where there are limited data availability.

Kanishka Ranaweera, David Smith, Pubudu N. Pathirana et al.

Federated learning (FL) enables collaborative model training across distributed clients without sharing raw data, making it a promising approach for privacy-preserving machine learning. However, ensuring differential privacy (DP) in FL presents challenges due to the trade-off between model utility and privacy protection. Clipping gradients before aggregation is a common strategy to limit privacy loss, but selecting an optimal clipping norm is non-trivial, as excessively high values compromise privacy, while overly restrictive clipping degrades model performance. In this work, we propose an adaptive clipping mechanism that dynamically adjusts the clipping norm using a multi-objective optimization framework. By integrating privacy and utility considerations into the optimization objective, our approach balances privacy preservation with model accuracy. We theoretically analyze the convergence properties of our method and demonstrate its effectiveness through extensive experiments on MNIST, Fashion-MNIST, and CIFAR-10 datasets. Our results show that adaptive clipping consistently outperforms fixed-clipping baselines, achieving improved accuracy under the same privacy constraints. This work highlights the potential of dynamic clipping strategies to enhance privacy-utility trade-offs in differentially private federated learning.

Kanishka Ranaweera, Dinh C. Nguyen, Pubudu N. Pathirana et al.

Federated learning has emerged as an attractive approach to protect data privacy by eliminating the need for sharing clients' data while reducing communication costs compared with centralized machine learning algorithms. However, recent studies have shown that federated learning alone does not guarantee privacy, as private data may still be inferred from the uploaded parameters to the central server. In order to successfully avoid data leakage, adopting differential privacy (DP) in the local optimization process or in the local update aggregation process has emerged as two feasible ways for achieving sample-level or user-level privacy guarantees respectively, in federated learning models. However, compared to their non-private equivalents, these approaches suffer from a poor utility. To improve the privacy-utility trade-off, we present a modification to these vanilla differentially private algorithms based on a Haar wavelet transformation step and a novel noise injection scheme that significantly lowers the asymptotic bound of the noise variance. We also present a holistic convergence analysis of our proposed algorithm, showing that our method yields better convergence performance than the vanilla DP algorithms. Numerical experiments on real-world datasets demonstrate that our method outperforms existing approaches in model utility while maintaining the same privacy guarantees.

Youyang Qu, Xin Yuan, Ming Ding et al.

Machine Learning (ML) models have been shown to potentially leak sensitive information, thus raising privacy concerns in ML-driven applications. This inspired recent research on removing the influence of specific data samples from a trained ML model. Such efficient removal would enable ML to comply with the "right to be forgotten" in many legislation, and could also address performance bottlenecks from low-quality or poisonous samples. In that context, machine unlearning methods have been proposed to erase the contributions of designated data samples on models, as an alternative to the often impracticable approach of retraining models from scratch. This article presents a comprehensive review of recent machine unlearning techniques, verification mechanisms, and potential attacks. We further highlight emerging challenges and prospective research directions (e.g. resilience and fairness concerns). We aim for this paper to provide valuable resources for integrating privacy, equity, andresilience into ML systems and help them "learn to unlearn".

Yang Li, Michael Purcell, Thierry Rakotoarivelo et al.

The application of graph analytics to various domains has yielded tremendous societal and economical benefits in recent years. However, the increasingly widespread adoption of graph analytics comes with a commensurate increase in the need to protect private information in graph data, especially in light of the many privacy breaches in real-world graph data that was supposed to preserve sensitive information. This paper provides a comprehensive survey of private graph data release algorithms that seek to achieve the fine balance between privacy and utility, with a specific focus on provably private mechanisms. Many of these mechanisms are natural extensions of the Differential Privacy framework to graph data, but we also investigate more general privacy formulations like Pufferfish Privacy that address some of the limitations of Differential Privacy. We also provide a wide-ranging survey of the applications of private graph data release mechanisms to social networks, finance, supply chain, and health care. This survey paper and the taxonomy it provides should benefit practitioners and researchers alike in the increasingly important area of private analytics and data release.

David Smith, Frederik Geth, Elliott Vercoe et al.

For the modeling, design and planning of future energy transmission networks, it is vital for stakeholders to access faithful and useful power flow data, while provably maintaining the privacy of business confidentiality of service providers. This critical challenge has recently been somewhat addressed in [1]. This paper significantly extends this existing work. First, we reduce the potential leakage information by proposing a fundamentally different post-processing method, using public information of grid losses rather than power dispatch, which achieve a higher level of privacy protection. Second, we protect more sensitive parameters, i.e., branch shunt susceptance in addition to series impedance (complete pi-model). This protects power flow data for the transmission high-voltage networks, using differentially private transformations that maintain the optimal power flow consistent with, and faithful to, expected model behaviour. Third, we tested our approach at a larger scale than previous work, using the PGLib-OPF test cases [10]. This resulted in the successful obfuscation of up to a 4700-bus system, which can be successfully solved with faithfulness of parameters and good utility to data analysts. Our approach addresses a more feasible and realistic scenario, and provides higher than state-of-the-art privacy guarantees, while maintaining solvability, fidelity and feasibility of the system.

Sachin Grover, David Smith, Subbarao Kambhampati

The future will be replete with scenarios where humans are robots will be working together in complex environments. Teammates interact, and the robot's interaction has to be about getting useful information about the human's (teammate's) model. There are many challenges before a robot can interact, such as incorporating the structural differences in the human's model, ensuring simpler responses, etc. In this paper, we investigate how a robot can interact to localize the human model from a set of models. We show how to generate questions to refine the robot's understanding of the teammate's model. We evaluate the method in various planning domains. The evaluation shows that these questions can be generated offline, and can help refine the model through simple answers.

Anagha Kulkarni, Sarath Sreedharan, Sarah Keren et al.

Designing robots capable of generating interpretable behavior is a prerequisite for achieving effective human-robot collaboration. This means that the robots need to be capable of generating behavior that aligns with human expectations and, when required, provide explanations to the humans in the loop. However, exhibiting such behavior in arbitrary environments could be quite expensive for robots, and in some cases, the robot may not even be able to exhibit the expected behavior. Given structured environments (like warehouses and restaurants), it may be possible to design the environment so as to boost the interpretability of the robot's behavior or to shape the human's expectations of the robot's behavior. In this paper, we investigate the opportunities and limitations of environment design as a tool to promote a type of interpretable behavior -- known in the literature as explicable behavior. We formulate a novel environment design framework that considers design over multiple tasks and over a time horizon. In addition, we explore the longitudinal aspect of explicable behavior and the trade-off that arises between the cost of design and the cost of generating explicable behavior over a time horizon.

Farhad Farokhi, Nan Wu, David Smith et al.

We consider training machine learning models using Training data located on multiple private and geographically-scattered servers with different privacy settings. Due to the distributed nature of the data, communicating with all collaborating private data owners simultaneously may prove challenging or altogether impossible. In this paper, we develop differentially-private asynchronous algorithms for collaboratively training machine-learning models on multiple private datasets. The asynchronous nature of the algorithms implies that a central learner interacts with the private data owners one-on-one whenever they are available for communication without needing to aggregate query responses to construct gradients of the entire fitness function. Therefore, the algorithm efficiently scales to many data owners. We define the cost of privacy as the difference between the fitness of a privacy-preserving machine-learning model and the fitness of trained machine-learning model in the absence of privacy concerns. We prove that we can forecast the performance of the proposed privacy-preserving asynchronous algorithms. We demonstrate that the cost of privacy has an upper bound that is inversely proportional to the combined size of the training datasets squared and the sum of the privacy budgets squared. We validate the theoretical results with experiments on financial and medical datasets. The experiments illustrate that collaboration among more than 10 data owners with at least 10,000 records with privacy budgets greater than or equal to 1 results in a superior machine-learning model in comparison to a model trained in isolation on only one of the datasets, illustrating the value of collaboration and the cost of the privacy. The number of the collaborating datasets can be lowered if the privacy budget is higher.

Laura Dietz, Bhaskar Mitra, Jeremy Pickens et al.

The vision of HIPstIR is that early stage information retrieval (IR) researchers get together to develop a future for non-mainstream ideas and research agendas in IR. The first iteration of this vision materialized in the form of a three day workshop in Portsmouth, New Hampshire attended by 24 researchers across academia and industry. Attendees pre-submitted one or more topics that they want to pitch at the meeting. Then over the three days during the workshop, we self-organized into groups and worked on six specific proposals of common interest. In this report, we present an overview of the workshop and brief summaries of the six proposals that resulted from the workshop.

David Smith, Matthew Loper, Xiaochen Hu et al.

Current methods for body shape estimation either lack detail or require many images. They are usually architecturally complex and computationally expensive. We propose FACSIMILE (FAX), a method that estimates a detailed body from a single photo, lowering the bar for creating virtual representations of humans. Our approach is easy to implement and fast to execute, making it easily deployable. FAX uses an image-translation network which recovers geometry at the original resolution of the image. Counterintuitively, the main loss which drives FAX is on per-pixel surface normals instead of per-pixel depth, making it possible to estimate detailed body geometry without any depth supervision. We evaluate our approach both qualitatively and quantitatively, and compare with a state-of-the-art method.

Michael Cashmore, Anna Collins, Benjamin Krarup et al.

Explainable AI is an important area of research within which Explainable Planning is an emerging topic. In this paper, we argue that Explainable Planning can be designed as a service -- that is, as a wrapper around an existing planning system that utilises the existing planner to assist in answering contrastive questions. We introduce a prototype framework to facilitate this, along with some examples of how a planner can be used to address certain types of contrastive questions. We discuss the main advantages and limitations of such an approach and we identify open questions for Explainable Planning as a service that identify several possible research directions.

Nan Wu, Farhad Farokhi, David Smith et al.

In this paper, we apply machine learning to distributed private data owned by multiple data owners, entities with access to non-overlapping training datasets. We use noisy, differentially-private gradients to minimize the fitness cost of the machine learning model using stochastic gradient descent. We quantify the quality of the trained model, using the fitness cost, as a function of privacy budget and size of the distributed datasets to capture the trade-off between privacy and utility in machine learning. This way, we can predict the outcome of collaboration among privacy-aware data owners prior to executing potentially computationally-expensive machine learning algorithms. Particularly, we show that the difference between the fitness of the trained machine learning model using differentially-private gradient queries and the fitness of the trained machine model in the absence of any privacy concerns is inversely proportional to the size of the training datasets squared and the privacy budget squared. We successfully validate the performance prediction with the actual performance of the proposed privacy-aware learning algorithms, applied to: financial datasets for determining interest rates of loans using regression; and detecting credit card frauds using support vector machines.

Fan Zeng, Adam Jacobson, David Smith et al.

A key capability for autonomous underground mining vehicles is real-time accurate localisation. While significant progress has been made, currently deployed systems have several limitations ranging from dependence on costly additional infrastructure to failure of both visual and range sensor-based techniques in highly aliased or visually challenging environments. In our previous work, we presented a lightweight coarse vision-based localisation system that could map and then localise to within a few metres in an underground mining environment. However, this level of precision is insufficient for providing a cheaper, more reliable vision-based automation alternative to current range sensor-based systems. Here we present a new precision localisation system dubbed "LookUP", which learns a neural-network-based pixel sampling strategy for estimating homographies based on ceiling-facing cameras without requiring any manual labelling. This new system runs in real time on limited computation resource and is demonstrated on two different underground mine sites, achieving real time performance at ~5 frames per second and a much improved average localisation error of ~1.2 metre.

Sarath Sreedharan, Siddharth Srivastava, David Smith et al.

Explainable planning is widely accepted as a prerequisite for autonomous agents to successfully work with humans. While there has been a lot of research on generating explanations of solutions to planning problems, explaining the absence of solutions remains an open and under-studied problem, even though such situations can be the hardest to understand or debug. In this paper, we show that hierarchical abstractions can be used to efficiently generate reasons for unsolvability of planning problems. In contrast to related work on computing certificates of unsolvability, we show that these methods can generate compact, human-understandable reasons for unsolvability. Empirical analysis and user studies show the validity of our methods as well as their computational efficacy on a number of benchmark planning domains.

David Smith, Parag Singla, Vibhav Gogate

Due to the intractable nature of exact lifted inference, research has recently focused on the discovery of accurate and efficient approximate inference algorithms in Statistical Relational Models (SRMs), such as Lifted First-Order Belief Propagation. FOBP simulates propositional factor graph belief propagation without constructing the ground factor graph by identifying and lifting over redundant message computations. In this work, we propose a generalization of FOBP called Lifted Generalized Belief Propagation, in which both the region structure and the message structure can be lifted. This approach allows more of the inference to be performed intra-region (in the exact inference step of BP), thereby allowing simulation of propagation on a graph structure with larger region scopes and fewer edges, while still maintaining tractability. We demonstrate that the resulting algorithm converges in fewer iterations to more accurate results on a variety of SRMs.

Nicolas Meuleau, David Smith

For a given problem, the optimal Markov policy can be considerred as a conditional or contingent plan containing a (potentially large) number of branches. Unfortunately, there are applications where it is desirable to strictly limit the number of decision points and branches in a plan. For example, it may be that plans must later undergo more detailed simulation to verify correctness and safety, or that they must be simple enough to be understood and analyzed by humans. As a result, it may be necessary to limit consideration to plans with only a small number of branches. This raises the question of how one goes about finding optimal plans containing only a limited number of branches. In this paper, we present an any-time algorithm for optimal k-contingency planning (OKP). It is the first optimal algorithm for limited contingency planning that is not an explicit enumeration of possible contingent plans. By modelling the problem as a Partially Observable Markov Decision Process, it implements the Bellman optimality principle and prunes the solution space. We present experimental results of applying this algorithm to some simple test cases.