Publications
Probabilistic coordination of heterogeneous teams from capability temporal logic specifications
Summary
Summary
This letter explores coordination of heterogeneous teams of agents from high-level specifications. We employ Capability Temporal Logic (CaTL) to express rich, temporal-spatial tasks that require cooperation between many agents with unique capabilities. CaTL specifies combinations of tasks, each with desired locations, duration, and set of capabilities, freeing the user from...
Fast decomposition of temporal logic specifications for heterogeneous teams
Summary
Summary
We focus on decomposing large multi-agent path planning problems with global temporal logic goals (common to all agents) into smaller sub-problems that can be solved and executed independently. Crucially, the sub-problems' solutions must jointly satisfy the common global mission specification. The agents' missions are given as Capability Temporal Logic (CaTL)...
Tools and practices for responsible AI engineering
Summary
Summary
Responsible Artificial Intelligence (AI)—the practice of developing, evaluating, and maintaining accurate AI systems that also exhibit essential properties such as robustness and explainability—represents a multifaceted challenge that often stretches standard machine learning tooling, frameworks, and testing methods beyond their limits. In this paper, we present two new software libraries—hydra-zen and...
Selective network discovery via deep reinforcement learning on embedded spaces
Summary
Summary
Complex networks are often either too large for full exploration, partially accessible, or partially observed. Downstream learning tasks on these incomplete networks can produce low quality results. In addition, reducing the incompleteness of the network can be costly and nontrivial. As a result, network discovery algorithms optimized for specific downstream...
Scalable and Robust Algorithms for Task-Based Coordination From High-Level Specifications (ScRATCHeS)
Summary
Summary
Many existing approaches for coordinating heterogeneous teams of robots either consider small numbers of agents, are application-specific, or do not adequately address common real world requirements, e.g., strict deadlines or intertask dependencies. We introduce scalable and robust algorithms for task-based coordination from high-level specifications (ScRATCHeS) to coordinate such teams. We...
Development of a field artifical intelligence triage tool: Confidence in the prediction of shock, transfusion, and definitive surgical therapy in patients with truncal gunshot wounds
Summary
Summary
BACKGROUND: In-field triage tools for trauma patients are limited by availability of information, linear risk classification, and a lack of confidence reporting. We therefore set out to develop and test a machine learning algorithm that can overcome these limitations by accurately and confidently making predictions to support in-field triage in...
Principles for evaluation of AI/ML model performance and robustness, revision 1
Summary
Summary
The Department of Defense (DoD) has significantly increased its investment in the design, evaluation, and deployment of Artificial Intelligence and Machine Learning (AI/ML) capabilities to address national security needs. While there are numerous AI/ML successes in the academic and commercial sectors, many of these systems have also been shown to...
Multimodal representation learning via maximization of local mutual information [e-print]
Summary
Summary
We propose and demonstrate a representation learning approach by maximizing the mutual information between local features of images and text. The goal of this approach is to learn useful image representations by taking advantage of the rich information contained in the free text that describes the findings in the image...
Learning emergent discrete message communication for cooperative reinforcement learning
Summary
Summary
Communication is a important factor that enables agents work cooperatively in multi-agent reinforcement learning (MARL). Most previous work uses continuous message communication whose high representational capacity comes at the expense of interpretability. Allowing agents to learn their own discrete message communication protocol emerged from a variety of domains can increase...
Information Aware max-norm Dirichlet networks for predictive uncertainty estimation
Summary
Summary
Precise estimation of uncertainty in predictions for AI systems is a critical factor in ensuring trust and safety. Deep neural networks trained with a conventional method are prone to over-confident predictions. In contrast to Bayesian neural networks that learn approximate distributions on weights to infer prediction confidence, we propose a...