arXiv subjects

Jared Culbertson

Publications and source records attributed to Jared Culbertson.

13 recordsLinked to original sources

arXiv2025

Sensemaking in Novel Environments: How Human Cognition Can Inform Artificial Agents

One of the most vital cognitive skills to possess is the ability to make sense of objects, events, and situations in the world. In the current paper, we offer an approach for creating artificially intelligent agents with the capacity for sensemaking in novel environments. Objectives: to present several key ideas: (1) a novel unified conceptual framework for sensemaking (which includes the existence of sign relations embedded within and across frames); (2) interaction among various content-addressable, distributed-knowledge structures via shared attributes (whose net response would represent a synthesized object, event, or situation serving as a sign for sensemaking in a novel environment). Findings: we suggest that attributes across memories can be shared and recombined in novel ways to create synthesized signs, which can denote certain outcomes in novel environments (i.e., sensemaking).

cs.AI↗

arXiv2025

The Safe Trusted Autonomy for Responsible Space Program

The Safe Trusted Autonomy for Responsible Space (STARS) program aims to advance autonomy technologies for space by leveraging machine learning technologies while mitigating barriers to trust, such as uncertainty, opaqueness, brittleness, and inflexibility. This paper presents the achievements and lessons learned from the STARS program in integrating reinforcement learning-based multi-satellite control, run time assurance approaches, and flexible human-autonomy teaming interfaces, into a new integrated testing environment for collaborative autonomous satellite systems. The primary results describe analysis of the reinforcement learning multi-satellite control and run time assurance algorithms. These algorithms are integrated into a prototype human-autonomy interface using best practices from human-autonomy trust literature, however detailed analysis of the effectiveness is left to future work. References are provided with additional detailed results of individual experiments.

eess.SY↗

arXiv2024

Stacked Universal Successor Feature Approximators for Safety in Reinforcement Learning

Real-world problems often involve complex objective structures that resist distillation into reinforcement learning environments with a single objective. Operation costs must be balanced with multi-dimensional task performance and end-states' effects on future availability, all while ensuring safety for other agents in the environment and the reinforcement learning agent itself. System redundancy through secondary backup controllers has proven to be an effective method to ensure safety in real-world applications where the risk of violating constraints is extremely high. In this work, we investigate the utility of a stacked, continuous-control variation of universal successor feature approximation (USFA) adapted for soft actor-critic (SAC) and coupled with a suite of secondary safety controllers, which we call stacked USFA for safety (SUSFAS). Our method improves performance on secondary objectives compared to SAC baselines using an intervening secondary controller such as a runtime assurance (RTA) controller.

cs.LG↗

arXiv2023

Representational Tenets for Memory Athletics

We describe the current state of world-class memory competitions, including the methods used to prepare for and compete in memory competitions, based on the subjective report of World Memory Championship Grandmaster and co-author Nelson Dellis. We then explore the reported experiences through the lens of the Simulated, Situated, and Structurally coherent Qualia (S3Q) theory of consciousness, in order to propose a set of experiments to help further understand the boundaries of expert memory performance.

q-bio.NC↗

arXiv2021

Hybrid dynamical type theories for navigation

We present a hybrid dynamical type theory equipped with useful primitives for organizing and proving safety of navigational control algorithms. This type theory combines the framework of Fu--Kishida--Selinger for constructing linear dependent type theories from state-parameter fibrations with previous work on categories of hybrid systems under sequential composition. We also define a conjectural embedding of a fragment of linear-time temporal logic within our type theory, with the goal of obtaining interoperability with existing state-of-the-art tools for automatic controller synthesis from formal task specifications. As a case study, we use the type theory to organize and prove safety properties for an obstacle-avoiding navigation algorithm of Arslan--Koditschek as implemented by Vasilopoulos. Finally, we speculate on extensions of the type theory to deal with conjugacies between model and physical spaces, as well as hierarchical template-anchor relationships.

cs.LO↗

arXiv2021

Extendable shellability for $d$-dimensional complexes on $d+3$ vertices

We prove that for all $d \geq 1$ a shellable $d$-dimensional simplicial complex with at most $d+3$ vertices is extendably shellable. The proof involves considering the structure of `exposed' edges in chordal graphs as well as a connection to linear quotients of quadratic monomial ideals.

math.CO↗

arXiv2020

Formal composition of hybrid systems

We develop a compositional framework for formal synthesis of hybrid systems using the language of category theory. More specifically, we provide mutually compatible tools for hierarchical, sequential, and independent parallel composition. In our framework, hierarchies of hybrid systems correspond to template-anchor pairs, which we model as spans of subdividing and embedding semiconjugacies. Hierarchical composition of template-anchor pairs corresponds to the composition of spans via pullback. To model sequential composition, we introduce "directed hybrid systems," each of which flows from an initial subsystem to a final subsystem in a Conley-theoretic sense. Sequential composition of directed systems is given by a pushout of graph embeddings, rewriting the continuous dynamics of the overlapping subsystem to prioritize the second directed system. Independent parallel composition corresponds to a categorical product with respect to semiconjugacy. To formalize the compatibility of these three types of composition, we construct a vertically cartesian double category of hybrid systems where the vertical morphisms are semiconjugacies, and the horizontal morphisms are directed hybrid systems.

math.CT↗

arXiv2018

Injective metrizability and the duality theory of cubings

Following his discovery that finite metric spaces have injective envelopes naturally admitting a polyhedral structure, Isbell, in his pioneering work on injective metric spaces, attempted a characterization of cellular complexes admitting the structure of an injective metric space. A bit later, Mai and Tang confirmed Isbell's conjecture that a simplicial complex is injectively metrizable if and only if it is collapsible. Considerable advances in the understanding, classification and applications of injective envelopes have since been made by Dress, Huber, Sturmfels and collaborators, and most recently by Lang. Unfortunately a combination theory for injective polyhedra is still unavailable. Here we expose a connection to the duality theory of cubings -- simply connected non-positively curved cubical complexes -- which provides a more principled and accessible approach to Mai and Tang's result, providing one with a powerful tool for systematic construction of locally-compact injective metric spaces: Main Theorem. Any complete pointed Gromov--Hausdorff limit of locally-finite piecewise-$\ell_\infty$ cubings is injective. This result may be construed as a combination theorem for the simplest injective polytopes, $\ell_\infty$-parallelopipeds, where the condition for retaining injectivity is the combinatorial non-positive curvature condition on the complex. Thus it represents a first step towards a more comprehensive combination theory for injective spaces. In addition to setting the earlier work on injectively metrizable complexes within its proper context of non-positively curved geometry, this paper is meant to provide the reader with a systematic review of the results~ ---~ otherwise scattered throughout the geometric group theory literature~ ---~ on the duality theory and the geometry of cubings, which make this connection possible.

math.MG↗

arXiv2018

Edge Erasures and Chordal Graphs

We prove several results about chordal graphs and weighted chordal graphs by focusing on exposed edges. These are edges that are properly contained in a single maximal complete subgraph. This leads to a characterization of chordal graphs via deletions of a sequence of exposed edges from a complete graph. Most interesting is that in this context the connected components of the edge-induced subgraph of exposed edges are 2-edge connected. We use this latter fact in the weighted case to give a modified version of Kruskal's second algorithm for finding a minimum spanning tree in a weighted chordal graph. This modified algorithm benefits from being local in an important sense.

math.CO↗

arXiv2018

Functorial Hierarchical Clustering with Overlaps

This work draws inspiration from three important sources of research on dissimilarity-based clustering and intertwines those three threads into a consistent principled functorial theory of clustering. Those three are the overlapping clustering of Jardine and Sibson, the functorial approach of Carlsson and Mémoli to partition-based clustering, and the Isbell/Dress school's study of injective envelopes. Carlsson and Mémoli introduce the idea of viewing clustering methods as functors from a category of metric spaces to a category of clusters, with functoriality subsuming many desirable properties. Our first series of results extends their theory of functorial clustering schemes to methods that allow overlapping clusters in the spirit of Jardine and Sibson. This obviates some of the unpleasant effects of chaining that occur, for example with single-linkage clustering. We prove an equivalence between these general overlapping clustering functors and projections of weight spaces to what we term clustering domains, by focusing on the order structure determined by the morphisms. As a specific application of this machinery, we are able to prove that there are no functorial projections to cut metrics, or even to tree metrics. Finally, although we focus less on the construction of clustering methods (clustering domains) derived from injective envelopes, we lay out some preliminary results, that hopefully will give a feel for how the third leg of the stool comes into play.

cs.LG↗

arXiv2016

Consistency constraints for overlapping data clustering

We examine overlapping clustering schemes with functorial constraints, in the spirit of Carlsson--Memoli. This avoids issues arising from the chaining required by partition-based methods. Our principal result shows that any clustering functor is naturally constrained to refine single-linkage clusters and be refined by maximal-linkage clusters. We work in the context of metric spaces with non-expansive maps, which is appropriate for modeling data processing which does not increase information content.

cs.LG↗

arXiv2013

Bayesian machine learning via category theory

From the Bayesian perspective, the category of conditional probabilities (a variant of the Kleisli category of the Giry monad, whose objects are measurable spaces and arrows are Markov kernels) gives a nice framework for conceptualization and analysis of many aspects of machine learning. Using categorical methods, we construct models for parametric and nonparametric Bayesian reasoning on function spaces, thus providing a basis for the supervised learning problem. In particular, stochastic processes are arrows to these function spaces which serve as prior probabilities. The resulting inference maps can often be analytically constructed in this symmetric monoidal weakly closed category. We also show how to view general stochastic processes using functor categories and demonstrate the Kalman filter as an archetype for the hidden Markov model.

math.CT↗

arXiv2013

A categorical foundation for Bayesian probability

Given two measurable spaces $H$ and $D$ with countably generated $σ$-algebras, a perfect prior probability measure $P_H$ on $H$ and a sampling distribution $S: H \rightarrow D$, there is a corresponding inference map $I: D \rightarrow H$ which is unique up to a set of measure zero. Thus, given a data measurement $μ: 1 \rightarrow D$, a posterior probability $\widehat{P_H}= I \circ μ$ can be computed. This procedure is iterative: with each updated probability $P_H$, we obtain a new joint distribution which in turn yields a new inference map $I$ and the process repeats with each additional measurement. The main result uses an existence theorem for regular conditional probabilities by Faden, which holds in more generality than the setting of Polish spaces. This less stringent setting then allows for non-trivial decision rules (Eilenberg--Moore algebras) on finite (as well as non finite) spaces, and also provides for a common framework for decision theory and Bayesian probability.

math.CT↗