Reliable autonomous navigation requires adapting the control policy of a mobile robot in response to dynamics changes in different operational conditions. Hand-designed dynamics models may struggle to capture model variations due to a limited set of parameters. Data-driven dynamics learning approaches offer higher model capacity and better generalization but require large amounts of state-labeled data. This paper develops an approach for learning robot dynamics directly from point-cloud observations, removing the need and associated errors of state estimation, while embedding Hamiltonian structure in the dynamics model to improve data efficiency. We design an observation-space loss that relates motion prediction from the dynamics model with motion prediction from point-cloud registration to train a Hamiltonian neural ordinary differential equation. The learned Hamiltonian model enables the design of an energy-shaping model-based tracking controller for rigid-body robots. We demonstrate dynamics learning and tracking control on a real nonholonomic wheeled robot.

Accurate models of robot dynamics are critical for safe and stable control and generalization to novel operational conditions. Hand-designed models, however, may be insufficiently accurate, even after careful parameter tuning. This motivates the use of machine learning techniques to approximate the robot dynamics over a training set of state-control trajectories. The dynamics of many robots are described in terms of their generalized coordinates on a matrix Lie group, e.g., on$\text{SE}(3)$for ground, aerial, and underwater vehicles, and generalized velocity, and satisfy conservation of energy principles. This article proposes a port-Hamiltonian formulation over a Lie group of the structure of a neural ordinary differential equation (ODE) network to approximate the robot dynamics. In contrast to a black-box ODE network, our formulation embeds energy conservation principle and Lie group's constraints in the dynamics model and explicitly accounts for energy-dissipation effect such as friction and drag forces in the dynamics model. We develop energy shaping and damping injection control for the learned, potentially under-actuated Hamiltonian dynamics to enable a unified approach for stabilization and trajectory tracking with various robot platforms.

Algorithmic transparency entails exposing system properties to various stakeholders for purposes that include understanding, improving, and contesting predictions. Until now, most research into algorithmic transparency has predominantly focused on explainability. Explainability attempts to provide reasons for a machine learning model's behavior to stakeholders. However, understanding a model's specific behavior alone might not be enough for stakeholders to gauge whether the model is wrong or lacks sufficient knowledge to solve the task at hand. In this paper, we argue for considering a complementary form of transparency by estimating and communicating the uncertainty associated with model predictions. First, we discuss methods for assessing uncertainty. Then, we characterize how uncertainty can be used to mitigate model unfairness, augment decision-making, and build trustworthy systems. Finally, we outline methods for displaying uncertainty to stakeholders and recommend how to collect information required for incorporating uncertainty into existing ML pipelines. This work constitutes an interdisciplinary review drawn from literature spanning machine learning, visualization/HCI, design, decision-making, and fairness. We aim to encourage researchers and practitioners to measure, communicate, and use uncertainty as a form of transparency.

The problem of active diagnosis arises in several applications such as disease diagnosis and fault diagnosis in computer networks, where the goal is to rapidly identify the binary states of a set of objects (e.g., faulty or working) by sequentially selecting, and observing, potentially noisy responses to binary valued queries. Previous work in this area chooses queries sequentially based on Information gain, and the object states are inferred by maximum a posteriori (MAP) estimation. In this work, rather than MAP estimation, we aim to rank objects according to their posterior fault probability. We propose a greedy algorithm to choose queries sequentially by maximizing the area under the ROC curve associated with the ranked list. The proposed algorithm overcomes limitations of existing work. When multiple faults may be present, the proposed algorithm does not rely on belief propagation, making it feasible for large scale networks with little loss in performance. When a single fault is present, the proposed algorithm can be implemented without knowledge of the underlying query noise distribution, making it robust to any misspecification of these noise parameters. We demonstrate the performance of the proposed algorithm through experiments on computer networks, a toxic chemical database, and synthetic datasets.