Safe Controller Optimization for Quadrotors with Gaussian Processes

One of the most fundamental problems when designing controllers for dynamic systems is the tuning of the controller parameters. Typically, a model of the system is used to obtain an initial controller, but ultimately the controller parameters must be tuned manually on the real system to achieve the best performance. To avoid this manual tuning step, methods from machine learning, such as Bayesian optimization, have been used. However, as these methods evaluate different controller parameters on the real system, safety-critical system failures may happen. In this paper, we overcome this problem by applying, for the first time, a recently developed safe optimization algorithm, SafeOpt, to the problem of automatic controller parameter tuning. Given an initial, low-performance controller, SafeOpt automatically optimizes the parameters of a control law while guaranteeing safety. It models the underlying performance measure as a Gaussian process and only explores new controller parameters whose performance lies above a safe performance threshold with high probability. Experimental results on a quadrotor vehicle indicate that the proposed method enables fast, automatic, and safe optimization of controller parameters without human intervention.Comment: IEEE International Conference on Robotics and Automation, 2016. 6 pages, 4 figures. A video of the experiments can be found at http://tiny.cc/icra16_video . A Python implementation of the algorithm is available at https://github.com/befelix/SafeOp

A Small Cosmological Constant and Backreaction of Non-Finetuned Parameters

We include the backreaction on the warped geometry induced by non-finetuned parameters in a two domain-wall set-up to obtain an exponentially small Cosmological Constant $\Lambda_4$. The mechanism to suppress the Cosmological Constant involves one classical fine-tuning as compared to an infinity of finetunings at the quantum level in standard D=4 field theory.Comment: 13 pages, minor corrections and references adde

Peak wind speed anemometers /maxometer/ Final report, 26 Mar. 1969 - 25 May 1970

Fabrication and testing of peak wind speed recording devic

Spontaneous centralization of control in a network of company ownerships

We introduce a model for the adaptive evolution of a network of company ownerships. In a recent work it has been shown that the empirical global network of corporate control is marked by a central, tightly connected "core" made of a small number of large companies which control a significant part of the global economy. Here we show how a simple, adaptive "rich get richer" dynamics can account for this characteristic, which incorporates the increased buying power of more influential companies, and in turn results in even higher control. We conclude that this kind of centralized structure can emerge without it being an explicit goal of these companies, or as a result of a well-organized strategy.Comment: 5 Pages, 7 figure

A Moral Framework for Understanding of Fair ML through Economic Models of Equality of Opportunity

We map the recently proposed notions of algorithmic fairness to economic models of Equality of opportunity (EOP)---an extensively studied ideal of fairness in political philosophy. We formally show that through our conceptual mapping, many existing definition of algorithmic fairness, such as predictive value parity and equality of odds, can be interpreted as special cases of EOP. In this respect, our work serves as a unifying moral framework for understanding existing notions of algorithmic fairness. Most importantly, this framework allows us to explicitly spell out the moral assumptions underlying each notion of fairness, and interpret recent fairness impossibility results in a new light. Last but not least and inspired by luck egalitarian models of EOP, we propose a new family of measures for algorithmic fairness. We illustrate our proposal empirically and show that employing a measure of algorithmic (un)fairness when its underlying moral assumptions are not satisfied, can have devastating consequences for the disadvantaged group's welfare

Fairness Behind a Veil of Ignorance: A Welfare Analysis for Automated Decision Making

We draw attention to an important, yet largely overlooked aspect of evaluating fairness for automated decision making systems---namely risk and welfare considerations. Our proposed family of measures corresponds to the long-established formulations of cardinal social welfare in economics, and is justified by the Rawlsian conception of fairness behind a veil of ignorance. The convex formulation of our welfare-based measures of fairness allows us to integrate them as a constraint into any convex loss minimization pipeline. Our empirical analysis reveals interesting trade-offs between our proposal and (a) prediction accuracy, (b) group discrimination, and (c) Dwork et al.'s notion of individual fairness. Furthermore and perhaps most importantly, our work provides both heuristic justification and empirical evidence suggesting that a lower-bound on our measures often leads to bounded inequality in algorithmic outcomes; hence presenting the first computationally feasible mechanism for bounding individual-level inequality.Comment: Conference: Thirty-second Conference on Neural Information Processing Systems (NIPS 2018

Electrodynamic Structure of an Outer Gap Accelerator: Location of the Gap and the Gamma-ray Emission from the Crab Pulsar

We investigate a stationary pair production cascade in the outer magnetosphere of a spinning neutron star. The charge depletion due to global flows of charged particles, causes a large electric field along the magnetic field lines. Migratory electrons and/or positrons are accelerated by this field to radiate curvature gamma-rays, some of which collide with the X-rays to materialize as pairs in the gap. The replenished charges partially screen the electric field, which is self-consistently solved together with the distribution functions of particles and gamma-rays. If no current is injected at neither of the boundaries of the accelerator, the gap is located around the conventional null surface, where the local Goldreich-Julian charge density vanishes. However, we first find that the gap position shifts outwards (or inwards) when particles are injected at the inner (or outer) boundary. Applying the theory to the Crab pulsar, we demonstrate that the pulsed TeV flux does not exceed the observational upper limit for moderate infrared photon density and that the gap should be located near to or outside of the conventional null surface so that the observed spectrum of pulsed GeV fluxes may be emitted via a curvature process. Some implications of the existence of a solution for a super Goldreich-Julian current are discussed.Comment: 17 pages, 12 figures, submitted to Ap