Learning Task Specifications from Demonstrations

Real world applications often naturally decompose into several sub-tasks. In many settings (e.g., robotics) demonstrations provide a natural way to specify the sub-tasks. However, most methods for learning from demonstrations either do not provide guarantees that the artifacts learned for the sub-tasks can be safely recombined or limit the types of composition available. Motivated by this deficit, we consider the problem of inferring Boolean non-Markovian rewards (also known as logical trace properties or specifications) from demonstrations provided by an agent operating in an uncertain, stochastic environment. Crucially, specifications admit well-defined composition rules that are typically easy to interpret. In this paper, we formulate the specification inference task as a maximum a posteriori (MAP) probability inference problem, apply the principle of maximum entropy to derive an analytic demonstration likelihood model and give an efficient approach to search for the most likely specification in a large candidate pool of specifications. In our experiments, we demonstrate how learning specifications can help avoid common problems that often arise due to ad-hoc reward composition.Comment: NIPS 201

Structure and enumeration of (3+1)-free posets

A poset is (3+1)-free if it does not contain the disjoint union of chains of length 3 and 1 as an induced subposet. These posets play a central role in the (3+1)-free conjecture of Stanley and Stembridge. Lewis and Zhang have enumerated (3+1)-free posets in the graded case by decomposing them into bipartite graphs, but until now the general enumeration problem has remained open. We give a finer decomposition into bipartite graphs which applies to all (3+1)-free posets and obtain generating functions which count (3+1)-free posets with labelled or unlabelled vertices. Using this decomposition, we obtain a decomposition of the automorphism group and asymptotics for the number of (3+1)-free posets.Comment: 28 pages, 5 figures. New version includes substantial changes to clarify the construction of skeleta and the enumeration. An extended abstract of this paper appears as arXiv:1212.535

Higgs branch RG-flows via Decay and Fission

Magnetic quivers have been an instrumental technique for advancing our understanding of Higgs branches of supersymmetric theories with 8 supercharges. In this work, we present the decay and fission algorithm for unitary magnetic quivers. It enables the derivation of the complete phase (Hasse) diagram and is characterised by the following key attributes: First and foremost, the algorithm is inherently simple; just relying on convex linear algebra. Second, any magnetic quiver can only undergo decay or fission processes; these reflect the possible Higgs branch RG-flows (Higgsings), and the quivers thereby generated are the magnetic quivers of the new RG fixed points. Third, the geometry of the decay or fission transition (i.e. the transverse slice) is simply read off. As a consequence, the algorithm does not rely on a complete list of minimal transitions, but rather outputs the transverse slice geometry automatically. As a proof of concept, its efficacy is showcased across various scenarios, encompassing SCFTs from dimensions 3 to 6, instanton moduli spaces, and little string theories.Comment: 55 pages; v.2 added clarifications for sec 3.

Poset topology and homological invariants of algebras arising in algebraic combinatorics

We present a beautiful interplay between combinatorial topology and homological algebra for a class of monoids that arise naturally in algebraic combinatorics. We explore several applications of this interplay. For instance, we provide a new interpretation of the Leray number of a clique complex in terms of non-commutative algebra. R\'esum\'e. Nous pr\'esentons une magnifique interaction entre la topologie combinatoire et l'alg\`ebre homologique d'une classe de mono\"ides qui figurent naturellement dans la combinatoire alg\'ebrique. Nous explorons plusieurs applications de cette interaction. Par exemple, nous introduisons une nouvelle interpr\'etation du nombre de Leray d'un complexe de clique en termes de la dimension globale d'une certaine alg\`ebre non commutative.Comment: This is an extended abstract surveying the results of arXiv:1205.1159 and an article in preparation. 12 pages, 3 Figure

Quiver Theories and Formulae for Nilpotent Orbits of Exceptional Algebras

We treat the topic of the closures of the nilpotent orbits of the Lie algebras of Exceptional groups through their descriptions as moduli spaces, in terms of Hilbert series and the highest weight generating functions for their representation content. We extend the set of known Coulomb branch quiver theory constructions for Exceptional group minimal nilpotent orbits, or reduced single instanton moduli spaces, to include all orbits of Characteristic Height 2, drawing on extended Dynkin diagrams and the unitary monopole formula. We also present a representation theoretic formula, based on localisation methods, for the normal nilpotent orbits of the Lie algebras of any Classical or Exceptional group. We analyse lower dimensioned Exceptional group nilpotent orbits in terms of Hilbert series and the Highest Weight Generating functions for their decompositions into characters of irreducible representations and/or Hall Littlewood polynomials. We investigate the relationships between the moduli spaces describing different nilpotent orbits and propose candidates for the constructions of some non-normal nilpotent orbits of Exceptional algebras.Comment: 87 pages, 4 figure