Publications

An Addendum to NeBula: Toward Extending Team CoSTAR’s Solution to Larger Scale Environments
Ali Agha
Kyohei Otsu
Benjamin Morrell
David D. Fan
Sung-Kyun Kim
Muhammad Fadhil Ginting
Xianmei Lei
Jeffrey Edlund
Seyed Fakoorian
Amanda Bouman
Fernando Chavez
Taeyeon Kim
Gustavo J. Correa
Maira Saboia
Angel Santamaria-Navarro
Brett Lopez
Boseong Kim
Chanyoung Jung
Mamoru Sobue
Oriana Claudia Peltzer … (see 69 more)
Joshua Ott
Robert Trybula
Thomas Touma
Marcel Kaufmann
Tiago Stegun Vaquero
Torkom Pailevanian
Matteo Palieri
Yun Chang
Andrzej Reinke
Matthew Anderson
Frederik E.T. Schöller
Patrick Spieler
Lillian Clark
Avak Archanian
Kenny Chen
Hovhannes Melikyan
Anushri Dixit
Harrison Delecki
Daniel Pastor
Barry Ridge
Nicolas Marchal
Jose Uribe
Sharmita Dey
Kamak Ebadi
Kyle Coble
Alexander Nikitas Dimopoulos
Vivek Thangavelu
Vivek Shankar Vardharajan
Nicholas Palomo
Antoni Rosinol
Arghya Chatterjee
Christoforos Kanellakis
Bjorn Lindqvist
Micah Corah
Kyle Strickland
Ryan Stonebraker
Michael Milano
Christopher E. Denniston
Sami Sahnoune
Thomas Claudet
Seungwook Lee
Gautam Salhotra
Edward Terry
Rithvik Musuku
Robin Schmid
Tony Tran
Ara Kourchians
Justin Schachter
Hector Azpurua
Levi Resende
Arash Kalantari
Jeremy Nash
Josh Lee
Christopher Patterson
Jen Blank
Kartik Patath
Yuki Kubo
Ryan Alimo
Yasin Almalioglu
Aaron Curtis
Jacqueline Sly
Tesla Wells
Nhut T. Ho
Mykel Kochenderfer
Giovanni Beltrame
George Nikolakopoulos
David Shim
Luca Carlone
Joel Burdick
2023-12-31
IEEE Transactions on Field Robotics (published)
doi.org
arxiv.org
Affirmative Safety: An Approach to Risk Management for Advanced Ai
Akash Wasil
Joshua Clymer
David M. Krueger
Emily Dardaman
Simeon Campos
Evan Murphy
2023-12-31
SSRN Electronic Journal (published)
doi.org
AmbieGen at the SBFT 2024 Tool Competition - CPS-UAV Track
Dmytro Humeniuk
Foutse Khomh
2023-12-31
SBFT@ICSE (published)
doi.org
AmbieGenVAE at the SBFT 2024 Tool Competition - Cyber-Physical Systems Track
Dmytro Humeniuk
Foutse Khomh
2023-12-31
SBFT@ICSE (published)
doi.org
An Analysis of Quantile Temporal-Difference Learning
Mark Rowland
Remi Munos
Mohammad Gheshlaghi Azar
Yunhao Tang
Georg Ostrovski
Anna Harutyunyan
K. Tuyls
Bellemare Marc-Emmanuel
Will Dabney
We analyse quantile temporal-difference learning (QTD), a distributional reinforcement learning algorithm that has proven to be a key compon… (see more)ent in several successful large-scale applications of reinforcement learning. Despite these empirical successes, a theoretical understanding of QTD has proven elusive until now. Unlike classical TD learning, which can be analysed with standard stochastic approximation tools, QTD updates do not approximate contraction mappings, are highly non-linear, and may have multiple fixed points. The core result of this paper is a proof of convergence to the fixed points of a related family of dynamic programming procedures with probability 1, putting QTD on firm theoretical footing. The proof establishes connections between QTD and non-linear differential inclusions through stochastic approximation theory and non-smooth analysis.
2023-12-31
Journal of Machine Learning Research (published)
doi.org
arxiv.org
An Analytic Hierarchy Process based approach for assessing the performance of photovoltaic solar power plants
Meryam Chafiq
Loubna Benabbou
Hanane Dagdougui
Ismail Belhaj
Abdelali Djdiaa
Hicham Bouzekri
Abdelaziz Berrado
2023-12-31
IFAC-PapersOnLine (published)
doi.org
Application-Driven Innovation in Machine Learning
David Rolnick
Alán Aspuru-Guzik
Sara Beery
Bistra Dilkina
Priya L. Donti
Marzyeh Ghassemi
Hannah Kerner
Claire Monteleoni
Esther Rolf
Milind Tambe
Adam White
As applications of machine learning proliferate, innovative algorithms inspired by specific real-world challenges have become increasingly i… (see more)mportant. Such work offers the potential for significant impact not merely in domains of application but also in machine learning itself. In this paper, we describe the paradigm of application-driven research in machine learning, contrasting it with the more standard paradigm of methods-driven research. We illustrate the benefits of application-driven machine learning and how this approach can productively synergize with methods-driven work. Despite these benefits, we find that reviewing, hiring, and teaching practices in machine learning often hold back application-driven innovation. We outline how these processes may be improved.
2023-12-31
ICML (published)
doi.org
arxiv.org
Are LLMs Breaking MT Metrics? Results of the WMT24 Metrics Shared Task
Markus Freitag
Nitika Mathur
Daniel Deutsch
Chi-kiu Lo
Eleftherios Avramidis
Ricardo Rei
Brian Thompson
Frédéric Blain
Tom Kocmi
Jiayi Wang
David Ifeoluwa Adelani
Marianna Buchicchio
Chrysoula Zerva
2023-12-31
Conference on Machine Translation (published)
doi.org
ARGV: 3D genome structure exploration using augmented reality
Chrisostomos Drogaris
Yanlin Zhang
Éric Zhang
Elena Nazarova
Roman Sarrazin-Gendron
Sélik Wilhelm-Landry
Yan Cyr
Jacek Majewski
Mathieu Blanchette
Jérôme Waldispühl
Over the past two decades, scientists have increasingly realized the importance of the three-dimensional (3D) genome organization in regulat… (see more)ing cellular activity. Hi-C and related experiments yield 2D contact matrices that can be used to infer 3D models of chromosome structure. Visualizing and analyzing genomes in 3D space remains challenging. Here, we present ARGV, an augmented reality 3D Genome Viewer. ARGV contains more than 350 pre-computed and annotated genome structures inferred from Hi-C and imaging data. It offers interactive and collaborative visualization of genomes in 3D space, using standard mobile phones or tablets. A user study comparing ARGV to existing tools demonstrates its benefits.
2023-12-31
BMC Bioinformatics (published)
doi.org
Artificial Intelligence in COVID-19-Related Geriatric Care: A Scoping Review
Emina Burnazovic
Amanda Yee
Joshua Howard Levy
Genevieve Gore
S. A. Rahimi
2023-12-31
Archives of Gerontology and Geriatrics (published)
doi.org
Bayesian modelling disentangles language versus executive control disruption in stroke
Gesa Hartwigsen
Jae-Sung Lim
Hee-Joon Bae
Kyung-Ho Yu
Hugo J. Kuijf
Nick A. Weaver
J. Matthijs Biesbroek
Jakub Kopal
Danilo Bzdok
Stroke is the leading cause of long-term disability worldwide. Incurred brain damage disrupts cognition, often with persisting deficits in l… (see more)anguage and executive capacities. Despite their clinical relevance, the commonalities, and differences of language versus executive control impairments remain under-specified. We tailored a Bayesian hierarchical modeling solution in a largest-of-its-kind cohort (1080 stroke patients) to deconvolve language and executive control in the brain substrates of stroke insults. Four cognitive factors distinguished left- and right-hemispheric contributions to ischemic tissue lesion. One factor delineated language and general cognitive performance and was mainly associated with damage to left-hemispheric brain regions in the frontal and temporal cortex. A factor for executive control summarized control and visual-constructional abilities. This factor was strongly related to right-hemispheric brain damage of posterior regions in the occipital cortex. The interplay of language and executive control was reflected in two factors: executive speech functions and verbal memory. Impairments on both were mainly linked to left-hemispheric lesions. These findings shed light onto the causal implications of hemispheric specialization for cognition; and make steps towards subgroup-specific treatment protocols after stroke.
2023-12-31
Brain Communications (published)
doi.org
A benchmark of individual auto-regressive models in a massive fMRI dataset
François Paugam
Basile Pinsard
Guillaume Lajoie
Pierre Bellec
Dense functional magnetic resonance imaging datasets open new avenues to create auto-regressive models of brain activity. Individual idiosyn… (see more)crasies are obscured by group models, but can be captured by purely individual models given sufficient amounts of training data. In this study, we compared several deep and shallow individual models on the temporal auto-regression of BOLD time-series recorded during a natural video-watching task. The best performing models were then analyzed in terms of their data requirements and scaling, subject specificity, and the space-time structure of their predicted dynamics. We found the Chebnets, a type of graph convolutional neural network, to be best suited for temporal BOLD auto-regression, closely followed by linear models. Chebnets demonstrated an increase in performance with increasing amounts of data, with no complete saturation at 9 h of training data. Good generalization to other kinds of video stimuli and to resting-state data marked the Chebnets’ ability to capture intrinsic brain dynamics rather than only stimulus-specific autocorrelation patterns. Significant subject specificity was found at short prediction time lags. The Chebnets were found to capture lower frequencies at longer prediction time lags, and the spatial correlations in predicted dynamics were found to match traditional functional connectivity networks. Overall, these results demonstrate that large individual functional magnetic resonance imaging (fMRI) datasets can be used to efficiently train purely individual auto-regressive models of brain activity, and that massive amounts of individual data are required to do so. The excellent performance of the Chebnets likely reflects their ability to combine spatial and temporal interactions on large time scales at a low complexity cost. The non-linearities of the models did not appear as a key advantage. In fact, surprisingly, linear versions of the Chebnets appeared to outperform the original non-linear ones. Individual temporal auto-regressive models have the potential to improve the predictability of the BOLD signal. This study is based on a massive, publicly-available dataset, which can serve for future benchmarks of individual auto-regressive modeling.
2023-12-31
Imaging Neuroscience (published)
doi.org