Computer Aided Verification

This open access two-volume set LNCS 11561 and 11562 constitutes the refereed proceedings of the 31st International Conference on Computer Aided Verification, CAV 2019, held in New York City, USA, in July 2019. The 52 full papers presented together with 13 tool papers and 2 case studies, were carefully reviewed and selected from 258 submissions. The papers were organized in the following topical sections: Part I: automata and timed systems; security and hyperproperties; synthesis; model checking; cyber-physical systems and machine learning; probabilistic systems, runtime techniques; dynamical, hybrid, and reactive systems; Part II: logics, decision procedures; and solvers; numerical programs; verification; distributed systems and networks; verification and invariants; and concurrency

CLEAN learning to improve coordination and scalability in multiagent systems

Recent advances in multiagent learning have led to exciting new capabilities spanning fields as diverse as planetary exploration, air traffic control, military reconnaissance, and airport security. Such algorithms provide a tangible benefit over traditional control algorithms in that they allow fast responses, adapt to dynamic environments, and generally scale well. Unfortunately, because many existing multiagent learning methods are extensions of single agent approaches, they are inhibited by three key issues: i) they treat the actions of other agents as "environmental noise" in an attempt to simplify the problem complexity, ii) they are slow to converge in large systems as the joint action space grows exponentially in the number of agents, and iii) they frequently rely upon the presence of an accurate system model being readily available. This work addresses these three issues sequentially. First, we improve overall learning performance compared to existing state-of-the-art techniques in the field by embracing the exploration in learning rather than ignoring it or approximating it away. Within multiagent systems, exploration by individual agents significantly alters the dynamics of the environment in which all agents learn. To address this, we introduce the concept of "private" exploration, which enables each agent to present a stationary baseline policy to other agents in order to allow other agents in the system to learn more efficiently. In particular, we introduce Coordinated Learning without Exploratory Action Noise (CLEAN) rewards which improve coordination and performance by utilizing the concept of private exploration in order to remove the negative impact of traditional "public" exploration strategies from learning in multiagent systems. Next, we leverage the fundamental properties of CLEAN rewards that enable private exploration to allow agents to explore multiple potential actions concurrently in a "batch mode" in order to significantly improve learning speed over the state-of-the-art. Finally, we improve the real-world applicability of the proposed techniques by reducing their requirements. Specifically, the CLEAN rewards developed require an accurate partial model (i.e., an accurate model of the system objective) of the system in order to be computed. Unfortunately, many real-world systems are too complex to be modeled or are not known in advance, so an accurate system model is not available a priori. We address this shortcoming by employing model-based reinforcement learning techniques to enable agents to construct their own approximate model of the system objective based upon their observations and use this approximate model to calculate their CLEAN rewards.Keywords: Multiagent Coordination, Multiagent Learning, UAV Communication Network, Fractionated Satellites, UAV Swarms, Distributed Control, Multiagent Scalability, Learning based control, Reward Shaping, Cubesats, Multiagent systems, Solar Power UAVs, Satellite Constellation

Computer Aided Verification

This open access two-volume set LNCS 11561 and 11562 constitutes the refereed proceedings of the 31st International Conference on Computer Aided Verification, CAV 2019, held in New York City, USA, in July 2019. The 52 full papers presented together with 13 tool papers and 2 case studies, were carefully reviewed and selected from 258 submissions. The papers were organized in the following topical sections: Part I: automata and timed systems; security and hyperproperties; synthesis; model checking; cyber-physical systems and machine learning; probabilistic systems, runtime techniques; dynamical, hybrid, and reactive systems; Part II: logics, decision procedures; and solvers; numerical programs; verification; distributed systems and networks; verification and invariants; and concurrency

Distributed Learning, Prediction and Detection in Probabilistic Graphs.

Critical to high-dimensional statistical estimation is to exploit the structure in the data distribution. Probabilistic graphical models provide an efficient framework for representing complex joint distributions of random variables through their conditional dependency graph, and can be adapted to many high-dimensional machine learning applications. This dissertation develops the probabilistic graphical modeling technique for three statistical estimation problems arising in real-world applications: distributed and parallel learning in networks, missing-value prediction in recommender systems, and emerging topic detection in text corpora. The common theme behind all proposed methods is a combination of parsimonious representation of uncertainties in the data, optimization surrogate that leads to computationally efficient algorithms, and fundamental limits of estimation performance in high dimension. More specifically, the dissertation makes the following theoretical contributions: (1) We propose a distributed and parallel framework for learning the parameters in Gaussian graphical models that is free of iterative global message passing. The proposed distributed estimator is shown to be asymptotically consistent, improve with increasing local neighborhood sizes, and have a high-dimensional error rate comparable to that of the centralized maximum likelihood estimator. (2) We present a family of latent variable Gaussian graphical models whose marginal precision matrix has a “low-rank plus sparse” structure. Under mild conditions, we analyze the high-dimensional parameter error bounds for learning this family of models using regularized maximum likelihood estimation. (3) We consider a hypothesis testing framework for detecting emerging topics in topic models, and propose a novel surrogate test statistic for the standard likelihood ratio. By leveraging the theory of empirical processes, we prove asymptotic consistency for the proposed test and provide guarantees of the detection performance.PhDElectrical Engineering: SystemsUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/110499/1/mengzs_1.pd

Learning of classification models from group-based feedback

Learning of classification models in practice often relies on a nontrivial amount of human annotation effort. The most widely adopted human labeling process assigns class labels to individual data instances. However, such a process is very rigid and may end up being very time-consuming and costly to conduct in practice. Finding more effective ways to reduce human annotation effort has become critical for building machine learning systems that require human feedback. In this thesis, we propose and investigate a new machine learning approach - Group-Based Active Learning - to learn classification models from limited human feedback. A group is defined by a set of instances represented by conjunctive patterns that are value ranges over the input features. Such conjunctive patterns define hypercubic regions of the input data space. A human annotator assesses the group solely based on its region-based description by providing an estimate of the class proportion for the subpopulation covered by the region. The advantage of this labeling process is that it allows a human to label many instances at the same time, which can, in turn, improve the labeling efficiency. In general, there are infinitely many regions one can define over a real-valued input space. To identify and label groups/regions important for classification learning, we propose and develop a Hierarchical Active Learning framework that actively builds and labels a hierarchy of input regions. Briefly, our framework starts by identifying general regions covering substantial portions of the input data space. After that, it progressively splits the regions into smaller and smaller sub-regions and also acquires class proportion labels for the new regions. The proportion labels for these regions are used to gradually improve and refine a classification model induced by the regions. We develop three versions of the idea. The first two versions aim to build a single hierarchy of regions. One builds it statically using hierarchical clustering, while the other one builds it dynamically, similarly to the decision tree learning process. The third approach builds multiple hierarchies simultaneously, and it offers additional flexibility for identifying more informative and simpler regions. We have conducted comprehensive empirical studies to evaluate our framework. The results show that the methods based on the region-based active learning can learn very good classifiers from a very few and simple region queries, and hence are promising for reducing human annotation effort needed for building a variety of classification models

Tools and Algorithms for the Construction and Analysis of Systems

This open access book constitutes the proceedings of the 28th International Conference on Tools and Algorithms for the Construction and Analysis of Systems, TACAS 2022, which was held during April 2-7, 2022, in Munich, Germany, as part of the European Joint Conferences on Theory and Practice of Software, ETAPS 2022. The 46 full papers and 4 short papers presented in this volume were carefully reviewed and selected from 159 submissions. The proceedings also contain 16 tool papers of the affiliated competition SV-Comp and 1 paper consisting of the competition report. TACAS is a forum for researchers, developers, and users interested in rigorously based tools and algorithms for the construction and analysis of systems. The conference aims to bridge the gaps between different communities with this common interest and to support them in their quest to improve the utility, reliability, exibility, and efficiency of tools and algorithms for building computer-controlled systems

Advances in Robot Navigation

Robot navigation includes different interrelated activities such as perception - obtaining and interpreting sensory information; exploration - the strategy that guides the robot to select the next direction to go; mapping - the construction of a spatial representation by using the sensory information perceived; localization - the strategy to estimate the robot position within the spatial map; path planning - the strategy to find a path towards a goal location being optimal or not; and path execution, where motor actions are determined and adapted to environmental changes. This book integrates results from the research work of authors all over the world, addressing the abovementioned activities and analyzing the critical implications of dealing with dynamic environments. Different solutions providing adaptive navigation are taken from nature inspiration, and diverse applications are described in the context of an important field of study: social robotics

Tools and Algorithms for the Construction and Analysis of Systems

This open access book constitutes the proceedings of the 28th International Conference on Tools and Algorithms for the Construction and Analysis of Systems, TACAS 2022, which was held during April 2-7, 2022, in Munich, Germany, as part of the European Joint Conferences on Theory and Practice of Software, ETAPS 2022. The 46 full papers and 4 short papers presented in this volume were carefully reviewed and selected from 159 submissions. The proceedings also contain 16 tool papers of the affiliated competition SV-Comp and 1 paper consisting of the competition report. TACAS is a forum for researchers, developers, and users interested in rigorously based tools and algorithms for the construction and analysis of systems. The conference aims to bridge the gaps between different communities with this common interest and to support them in their quest to improve the utility, reliability, exibility, and efficiency of tools and algorithms for building computer-controlled systems