Valentina Breschi

Valentina Breschi, Ilya Kolmanovsky, Alberto Bemporad

As the connectivity of consumer devices is rapidly growing and cloud computing technologies are becoming more widespread, cloud-aided techniques for parameter estimation can be designed to exploit the theoretically unlimited storage memory and computational power of the cloud, while relying on information provided by multiple sources. With the ultimate goal of developing monitoring and diagnostic strategies, this report focuses on the design of a Recursive Least-Squares (RLS) based estimator for identification over a group of devices connected to the cloud. The proposed approach, that relies on Node-to-Cloud-to-Node (N2C2N) transmissions, is designed so that: (i) estimates of the unknown parameters are computed locally and (ii) the local estimates are refined on the cloud. The proposed approach requires minimal changes to local (pre-existing) RLS estimators.

Gianluca Giacomelli, Victor G. Lopez, Simone Formentin et al.

Data-enabled predictive control (DeePC) has recently attracted attention as a promising approach for controlling systems directly from raw data, without requiring an explicit identification step. However, DeePC has not yet been extended to piecewise affine (PWA) systems, despite their extensive use in the (predictive) control literature and their universal approximation capabilities. To address this gap, in this work, we lay the foundations for data-enabled predictive control of PWA systems, providing: $(i)$ their behavioral characterization; $(ii)$ an extension of Willems' Fundamental Lemma to represent their behavior from raw data; $(iii)$ an analysis of the coherence of DeePC strategies using a linear predictor and shrinkage regularizers; and $(iv)$ a study of the impact of misclassification errors on structuring data for prediction. Our theoretical findings are validated by numerical results on a simple example, emphasizing the need to extend beyond a regularized version of the foundational DeePC framework to design control actions that are both effective and coherent with a PWA system's behavior, thus ensuring the controller's explainability.

Riccardo Busetto, Valentina Breschi, Simone Formentin

When solving global optimization problems in practice, one often ends up repeatedly solving problems that are similar to each others. By providing a rigorous definition of similarity, in this work we propose to incorporate the META-learning rationale into SMGO-$Δ$, a global optimization approach recently proposed in the literature, to exploit priors obtained from similar past experience to efficiently solve new (similar) problems. Through a benchmark numerical example we show the practical benefits of our META-extension of the baseline algorithm, while providing theoretical bounds on its performance.

Camilla Quaresmini, Valentina Breschi, Jessica Leoni et al.

Fairness in online advertising is often formalized as a distributive justice problem, aiming to ensure that impressions, opportunities, or outcomes are allocated comparably across protected groups. Yet online advertising can still produce harms arising from ads' content and from how recipients interpret and uptake them. To capture this dimension, we draw on Miranda Fricker's notion of hermeneutical injustice. We model ad delivery as a mechanism that distributes interpretative resources and can fail in two ways: relevant concepts can be withheld through systematic under-exposure, leading to hermeneutical deprivation; and recipients may experience hermeneutical distortions when saturated with low-uptake or skewed framings. Grounded in exploratory correlational patterns from the AIDS Advertising Evaluation surveys (1986-1987), we introduce a group-level hermeneutical fairness constraint and a hermeneutically aware utility cost. We integrate them into a benchmark, utility-driven ad allocation framework that already enforces distributive justice, yielding a distributively fair, hermeneutically aware framework that prevents deprivation and distortion from concentrating within protected groups. Through controlled simulations, we explore trade-offs between economic utility, classical distributive fairness constraints, and hermeneutical cost. The results show that purely utility-based allocation drives under-delivery to the disadvantaged group. When the hermeneutical stakes of withholding ads are high, distributive constraints reduce hermeneutical cost at modest utility loss. Conversely, weighting hermeneutical cost without distributive constraints can yield policies concentrated on the disadvantaged group. These findings motivate expanding fairness analyses of online advertising beyond distributive notions to include epistemic conditions of interpretation and uptake.

Shuhao Que, Remco Poelarends, Valentina Breschi et al.

Monitoring physical activity energy expenditure (PAEE) in daily life is essential for characterizing individual health and metabolic status. Although indirect calorimetry provides gold-standard PAEE measurements, it is impractical for continuous daily-life monitoring. Consequently, wearable sensing approaches using inertial measurement units (IMUs) and heart rate (HR) sensors have attracted substantial interest. However, most existing IMU- and HR-based methods are purely data-driven and offer limited physiological interpretability. In this work, we propose a simplified physiological model that explicitly links body movement during activities of daily living to the underlying metabolic gas-exchange processes governing PAEE. The model is formulated as a nonlinear state-space system and embedded within an Extended Kalman Filter (EKF), enabling principled handling of measurement noise, model uncertainty, and system nonlinearities. The proposed framework provides personalized, interpretable PAEE estimates without employing black-box models. Our model was validated using a dataset, including 9 subjects with around 50 minutes of measurements per subject, collected in our lab simulating a free-living condition. Using the respiratory data measured by COSMED K5 as reference and explained variance (R^2) as evaluation metric, our model's predicted PAEE yielded median (min-max) R^2 = 0.72 (0.60--0.87), using three IMUs (pelvis and two thighs) for capturing the body-center-of-mass motion and measured HR for the time-varying cardiac output. Our model outperformed a linear regression (LR) model (R^2 = 0.52 (0.23--0.92)) and CNN-LSTM model (R^2 = 0.65 (0.46--0.78)) on the same dataset. Notably, excluding the sensory HR measurement did not significantly degrade PAEE estimation of all three models, indicating that IMU-captured mechanical workload dominated PAEE estimation performance in our protocol.

Thomas de Jong, Valentina Breschi, Maarten Schoukens et al.

In this paper, we consider the design of data-driven predictive controllers for nonlinear systems from input-output data via linear-in-control input Koopman lifted models. Instead of identifying and simulating a Koopman model to predict future outputs, we design a subspace predictive controller in the Koopman space. This allows us to learn the observables minimizing the multi-step output prediction error of the Koopman subspace predictor, preventing the propagation of prediction errors. To avoid losing feasibility of our predictive control scheme due to prediction errors, we compute a terminal cost and terminal set in the Koopman space and we obtain recursive feasibility guarantees through an interpolated initial state. As a third contribution, we introduce a novel regularization cost yielding input-to-state stability guarantees with respect to the prediction error for the resulting closed-loop system. The performance of the developed Koopman data-driven predictive control methodology is illustrated on a nonlinear benchmark example from the literature.

Camilla Quaresmini, Lisa Piccinin, Valentina Breschi

Algorithmic systems increasingly function as epistemic infrastructures that govern the conditions of interpretative access and social belief. Yet, mainstream auditing strategies operationalize fairness primarily in predictive terms - error rates, calibration, or group-level parity - leaving epistemic harms under-theorized and under-measured. We propose a quantitative framework for evaluating forms of epistemic injustice in algorithmic environments. First, we introduce a deficit-based template that models epistemic injustices as gaps between ideal and realized conditions across features such as credibility, uptake, and epistemic agency. We map these deficits to concrete stages of algorithmic mediation, showing how epistemic injustice can persist even when standard fairness constraints are satisfied. Drawing on distributive fairness indices, we distinguish two evaluation stances: resource inequality, where indices are applied to distributions of epistemic goods directly, and capability/rights inequity, where indices are applied to output-induced epistemic opportunity. We provide an epistemic translation of canonical indices, illustrating how they diagnose complementary signatures of unfairness - such as exclusionary tails and hierarchical concentration - and support longitudinal auditing under iterative deployment. We also provide a simulation study of a recommender-mediated opinion dynamics setting, showing how the proposed indices capture the evolution of epistemic unfairness under repeated platform interventions. The result is a measurement framework that makes the epistemic dimension of algorithmic harms explicit for system design and evaluation.

Aurelio Raffa Ugolini, Valentina Breschi, Andrea Manzoni et al.

In this work we analyze the effectiveness of the Sparse Identification of Nonlinear Dynamics (SINDy) technique on three benchmark datasets for nonlinear identification, to provide a better understanding of its suitability when tackling real dynamical systems. While SINDy can be an appealing strategy for pursuing physics-based learning, our analysis highlights difficulties in dealing with unobserved states and non-smooth dynamics. Due to the ubiquity of these features in real systems in general, and control applications in particular, we complement our analysis with hands-on approaches to tackle these issues in order to exploit SINDy also in these challenging contexts.

Jessica Leoni, Valentina Breschi, Simone Formentin et al.

Traditional models grounded in first principles often struggle with accuracy as the system's complexity increases. Conversely, machine learning approaches, while powerful, face challenges in interpretability and in handling physical constraints. Efforts to combine these models often often stumble upon difficulties in finding a balance between accuracy and complexity. To address these issues, we propose a comprehensive framework based on a "mixture of experts" rationale. This approach enables the data-based fusion of diverse local models, leveraging the full potential of first-principle-based priors. Our solution allows independent training of experts, drawing on techniques from both machine learning and system identification, and it supports both collaborative and competitive learning paradigms. To enhance interpretability, we penalize abrupt variations in the expert's combination. Experimental results validate the effectiveness of our approach in producing an interpretable combination of models closely resembling the target phenomena.

Aurelio Raffa Ugolini, Jessica Leoni, Valentina Breschi et al.

We present a novel Explainable methodology for Condition Monitoring, relying on healthy data only. Since faults are rare events, we propose to focus on learning the probability distribution of healthy observations only, and detect Anomalies at runtime. This objective is achieved via the definition of probabilistic measures of deviation from nominality, which allow to detect and anticipate faults. The Bayesian perspective underpinning our approach allows us to perform Uncertainty Quantification to inform decisions. At the same time, we provide descriptive tools to enhance the interpretability of the results, supporting the deployment of the proposed strategy also in safety-critical applications. The methodology is validated experimentally on two use cases: a publicly available benchmark for Predictive Maintenance, and a real-world Helicopter Transmission dataset collected over multiple years. In both applications, the method achieves competitive detection performance with respect to state-of-the-art anomaly detection methods.

Aurelio Raffa Ugolini, Mara Tanelli, Valentina Breschi

Many learning problems involve multiple patterns and varying degrees of uncertainty dependent on the covariates. Advances in Deep Learning (DL) have addressed these issues by learning highly nonlinear input-output dependencies. However, model interpretability and Uncertainty Quantification (UQ) have often straggled behind. In this context, we introduce the Competitive/Collaborative Fusion of Experts (CoCoAFusE), a novel, Bayesian Covariates-Dependent Modeling technique. CoCoAFusE builds on the very philosophy behind Mixtures of Experts (MoEs), blending predictions from several simple sub-models (or "experts") to achieve high levels of expressiveness while retaining a substantial degree of local interpretability. Our formulation extends that of a classical Mixture of Experts by contemplating the fusion of the experts' distributions in addition to their more usual mixing (i.e., superimposition). Through this additional feature, CoCoAFusE better accommodates different scenarios for the intermediate behavior between generating mechanisms, resulting in tighter credible bounds on the response variable. Indeed, only resorting to mixing, as in classical MoEs, may lead to multimodality artifacts, especially over smooth transitions. Instead, CoCoAFusE can avoid these artifacts even under the same structure and priors for the experts, leading to greater expressiveness and flexibility in modeling. This new approach is showcased extensively on a suite of motivating numerical examples and a collection of real-data ones, demonstrating its efficacy in tackling complex regression problems where uncertainty is a key quantity of interest.