RoboChain: A Secure Data-Sharing Framework for Human-Robot Interaction

Robots have potential to revolutionize the way we interact with the world around us. One of their largest potentials is in the domain of mobile health where they can be used to facilitate clinical interventions. However, to accomplish this, robots need to have access to our private data in order to learn from these data and improve their interaction capabilities. Furthermore, to enhance this learning process, the knowledge sharing among multiple robot units is the natural step forward. However, to date, there is no well-established framework which allows for such data sharing while preserving the privacy of the users (e.g., the hospital patients). To this end, we introduce RoboChain - the first learning framework for secure, decentralized and computationally efficient data and model sharing among multiple robot units installed at multiple sites (e.g., hospitals). RoboChain builds upon and combines the latest advances in open data access and blockchain technologies, as well as machine learning. We illustrate this framework using the example of a clinical intervention conducted in a private network of hospitals. Specifically, we lay down the system architecture that allows multiple robot units, conducting the interventions at different hospitals, to perform efficient learning without compromising the data privacy.

Improved Learning in Evolution Strategies via Sparser Inter-Agent Network Topologies

We draw upon a previously largely untapped literature on human collective intelligence as a source of inspiration for improving deep learning. Implicit in many algorithms that attempt to solve Deep Reinforcement Learning (DRL) tasks is the network of processors along which parameter values are shared. So far, existing approaches have implicitly utilized fully-connected networks, in which all processors are connected. However, the scientific literature on human collective intelligence suggests that complete networks may not always be the most effective information network structures for distributed search through complex spaces. Here we show that alternative topologies can improve deep neural network training: we find that sparser networks learn higher rewards faster, leading to learning improvements at lower communication costs.

Stigmergy-based modeling to discover urban activity patterns from positioning data

Positioning data offer a remarkable source of information to analyze crowds urban dynamics. However, discovering urban activity patterns from the emergent behavior of crowds involves complex system modeling. An alternative approach is to adopt computational techniques belonging to the emergent paradigm, which enables self-organization of data and allows adaptive analysis. Specifically, our approach is based on stigmergy. By using stigmergy each sample position is associated with a digital pheromone deposit, which progressively evaporates and aggregates with other deposits according to their spatiotemporal proximity. Based on this principle, we exploit positioning data to identify high density areas (hotspots) and characterize their activity over time. This characterization allows the comparison of dynamics occurring in different days, providing a similarity measure exploitable by clustering techniques. Thus, we cluster days according to their activity behavior, discovering unexpected urban activity patterns. As a case study, we analyze taxi traces in New York City during 2015.

Optimal Dynamic Coverage Infrastructure for Large-Scale Fleets of Reconnaissance UAVs

Current state of the art in the field of UAV activation relies solely on human operators for the design and adaptation of the drones' flying routes. Furthermore, this is being done today on an individual level (one vehicle per operators), with some exceptions of a handful of new systems, that are comprised of a small number of self-organizing swarms, manually guided by a human operator. Drones-based monitoring is of great importance in variety of civilian domains, such as road safety, homeland security, and even environmental control. In its military aspect, efficiently detecting evading targets by a fleet of unmanned drones has an ever increasing impact on the ability of modern armies to engage in warfare. The latter is true both traditional symmetric conflicts among armies as well as asymmetric ones. Be it a speeding driver, a polluting trailer or a covert convoy, the basic challenge remains the same -- how can its detection probability be maximized using as little number of drones as possible. In this work we propose a novel approach for the optimization of large scale swarms of reconnaissance drones -- capable of producing on-demand optimal coverage strategies for any given search scenario. Given an estimation cost of the threat's potential damages, as well as types of monitoring drones available and their comparative performance, our proposed method generates an analytically provable strategy, stating the optimal number and types of drones to be deployed, in order to cost-efficiently monitor a pre-defined region for targets maneuvering using a given roads networks. We demonstrate our model using a unique dataset of the Israeli transportation network, on which different deployment schemes for drones deployment are evaluated.

Bots as Virtual Confederates: Design and Ethics

The use of bots as virtual confederates in online field experiments holds extreme promise as a new methodological tool in computational social science. However, this potential tool comes with inherent ethical challenges. Informed consent can be difficult to obtain in many cases, and the use of confederates necessarily implies the use of deception. In this work we outline a design space for bots as virtual confederates, and we propose a set of guidelines for meeting the status quo for ethical experimentation. We draw upon examples from prior work in the CSCW community and the broader social science literature for illustration. While a handful of prior researchers have used bots in online experimentation, our work is meant to inspire future work in this area and raise awareness of the associated ethical issues.

Human collective intelligence as distributed Bayesian inference

Collective intelligence is believed to underly the remarkable success of human society. The formation of accurate shared beliefs is one of the key components of human collective intelligence. How are accurate shared beliefs formed in groups of fallible individuals? Answering this question requires a multiscale analysis. We must understand both the individual decision mechanisms people use, and the properties and dynamics of those mechanisms in the aggregate. As of yet, mathematical tools for such an approach have been lacking. To address this gap, we introduce a new analytical framework: We propose that groups arrive at accurate shared beliefs via distributed Bayesian inference. Distributed inference occurs through information processing at the individual level, and yields rational belief formation at the group level. We instantiate this framework in a new model of human social decision-making, which we validate using a dataset we collected of over 50,000 users of an online social trading platform where investors mimic each others' trades using real money in foreign exchange and other asset markets. We find that in this setting people use a decision mechanism in which popularity is treated as a prior distribution for which decisions are best to make. This mechanism is boundedly rational at the individual level, but we prove that in the aggregate implements a type of approximate "Thompson sampling"---a well-known and highly effective single-agent Bayesian machine learning algorithm for sequential decision-making. The perspective of distributed Bayesian inference therefore reveals how collective rationality emerges from the boundedly rational decision mechanisms people use.

Modeling Human Ad Hoc Coordination

Whether in groups of humans or groups of computer agents, collaboration is most effective between individuals who have the ability to coordinate on a joint strategy for collective action. However, in general a rational actor will only intend to coordinate if that actor believes the other group members have the same intention. This circular dependence makes rational coordination difficult in uncertain environments if communication between actors is unreliable and no prior agreements have been made. An important normative question with regard to coordination in these ad hoc settings is therefore how one can come to believe that other actors will coordinate, and with regard to systems involving humans, an important empirical question is how humans arrive at these expectations. We introduce an exact algorithm for computing the infinitely recursive hierarchy of graded beliefs required for rational coordination in uncertain environments, and we introduce a novel mechanism for multiagent coordination that uses it. Our algorithm is valid in any environment with a finite state space, and extensions to certain countably infinite state spaces are likely possible. We test our mechanism for multiagent coordination as a model for human decisions in a simple coordination game using existing experimental data. We then explore via simulations whether modeling humans in this way may improve human-agent collaboration.