Knowledge of the protection afforded by vaccines might, in some circumstances, modify a vaccinated individual's behaviour, potentially increasing exposure to pathogens and hindering effectiveness. Although vaccine studies typically do not explicitly account for this possibility in their analyses, we argue that natural direct effects might represent appropriate causal estimands when an objective is to quantify the effect of vaccination on disease while blocking its influence on behaviour. There are, however, complications of a practical nature for the estimation of natural direct effects in this context. Here, we discuss some of these issues, including exposure-outcome and mediator-outcome confounding by healthcare seeking behaviour, and possible approaches to facilitate estimates of these effects. This work highlights the importance of data collection on behaviour, of assessing whether vaccination induces riskier behaviour, and of understanding the potential effects of interventions on vaccination that could turn off vaccine's influence on behaviour.
Explainability, in particular, the ability for robots to explain why they have made a decision or behaved in a certain way, is a critical tool in helping users understand the robots they interact and coexist with. Behaviour trees are a popular framework for controlling the decision-making of robots, and thus a natural question to ask is whether or not a system driven by a behaviour tree is capable of answering "why" questions. While explainability for behaviour tree-driven robots has seen some prior attention, no existing methods are capable of generating causal, counterfactual explanations which detail the reasons for robot decisions and behaviour. Therefore, in this work, we introduce a novel approach which automatically generates counterfactual explanations in response to contrastive "why" questions. Our method achieves this by first automatically building a causal model from the structure of the behaviour tree as well as domain knowledge about the state and individual behaviour tree nodes. The resultant causal model is then queried and searched to find a set of diverse counterfactual explanations. We demonstrate that our approach is able to correctly explain the behaviour of a
As the complexity of AI systems and their interactions with the world increases, generating explanations for their behaviour is important for safely deploying AI. For agents, the most natural abstractions for predicting behaviour attribute beliefs, intentions and goals to the system. If an agent behaves as if it has a certain goal or belief, then we can make reasonable predictions about how it will behave in novel situations, including those where comprehensive safety evaluations are untenable. How well can we infer an agent's beliefs from their behaviour, and how reliably can these inferred beliefs predict the agent's behaviour in novel situations? We provide a precise answer to this question under the assumption that the agent's behaviour is guided by a world model. Our contribution is the derivation of novel bounds on the agent's behaviour in new (unseen) deployment environments, which represent a theoretical limit for predicting intentional agents from behavioural data alone. We discuss the implications of these results for several research areas including fairness and safety.
Humans perceive their visual environment by directing their eyes towards relevant objects. The deployment of visual attention depends substantially on the stimulus's properties, higher cognitive processes, and biases and constraints of the visual system. Numerous models describe people's eye movements depending on the performed task or the viewed content. However, there is no universal, context-invariant model of human gaze behaviour. Here we show that statistical regularities can be utilised to model human gaze behaviour regardless of task, observer, and content. Using a context-agnostic eye movement model, we were able to describe human gaze behaviour better than a uniform random model in various viewing situations. Using a fixed transition kernel, the model can describe gaze patterns during reading, visual search, and scene perception, as well as for both adults and children. Thus, contrary to current belief, human gaze patterns follow a baseline behaviour, making them comparable across contexts. Since gaze behaviour is directly related to brain structure, our results provide the first evidence for the existence of an underlying, context-invariant motor prior in the human visual
There has been interest in the interactions between infectious disease dynamics and behaviour for most of the history of mathematical epidemiology. This has included consideration of which mathematical models best capture each phenomenon, as well as their interaction, but typically in a manner that is agnostic to the exact behaviour in question. Here, we investigate interacting behaviour and disease dynamics specifically related to decisions around testing and isolation. To carry out our investigation we extend an existing "behaviour and disease" (BaD) model by incorporating the dynamics of symptomatic testing and isolation, including the influence of positive tests on perception of infection risk. We provide a dynamical systems analysis of the ordinary differential equations that define this model, providing theoretical results on its behaviour early in a new outbreak (particularly its basic reproduction number) and endemicity of the system (its steady states and associated stability criteria). We then supplement these findings with a numerical analysis to inform how temporal and cumulative outbreak metrics depend on the model parameter values for epidemic and endemic regimes. We
Federated Learning (FL), a privacy-aware approach in distributed deep learning environments, enables many clients to collaboratively train a model without sharing sensitive data, thereby reducing privacy risks. However, enabling human trust and control over FL systems requires understanding the evolving behaviour of clients, whether beneficial or detrimental for the training, which still represents a key challenge in the current literature. To address this challenge, we introduce Federated Behavioural Planes (FBPs), a novel method to analyse, visualise, and explain the dynamics of FL systems, showing how clients behave under two different lenses: predictive performance (error behavioural space) and decision-making processes (counterfactual behavioural space). Our experiments demonstrate that FBPs provide informative trajectories describing the evolving states of clients and their contributions to the global model, thereby enabling the identification of clusters of clients with similar behaviours. Leveraging the patterns identified by FBPs, we propose a robust aggregation technique named Federated Behavioural Shields to detect malicious or noisy client models, thereby enhancing secu
Cyber security incidents are increasing and humans play an important role in reducing their likelihood and impact. We identify a skewed focus towards technical aspects of cyber security in the literature, whereas factors influencing the secure behaviour of individuals require additional research. These factors span across both the individual level and the contextual level in which the people are situated. We analyse two datasets of a total of 37,075 records from a) self-reported security behaviours across the EU, and b) observed phishing-related behaviours from the industry security awareness training programmes. We identify that national culture, industry type, and organisational security culture play are influential Variables (antecedents) of individuals' security behaviour at contextual level. Whereas, demographics (age, gender, and level or urbanisation) and security-specific factors (security awareness, security knowledge, and prior experience with security incidents) are found to be influential variables of security behaviour at individual level. Our findings have implications for both research and practice as they fill a gap in the literature and provide concrete statistical
This paper describes methods for training autonomous agents to play the game "Doom 2" through Imitation Learning (IL) using only pixel data as input. We also explore how Reinforcement Learning (RL) compares to IL for humanness by comparing camera movement and trajectory data. Through behavioural cloning, we examine the ability of individual models to learn varying behavioural traits. We attempt to mimic the behaviour of real players with different play styles, and find we can train agents that behave aggressively, passively, or simply more human-like than traditional AIs. We propose these methods of introducing more depth and human-like behaviour to agents in video games. The trained IL agents perform on par with the average players in our dataset, whilst outperforming the worst players. While performance was not as strong as common RL approaches, it provides much stronger human-like behavioural traits to the agent.
Recent advances in theoretical biology suggest that basal cognition and sentient behaviour are emergent properties of in vitro cell cultures and neuronal networks, respectively. Such neuronal networks spontaneously learn structured behaviours in the absence of reward or reinforcement. In this paper, we characterise this kind of self-organisation through the lens of the free energy principle, i.e., as self-evidencing. We do this by first discussing the definitions of reactive and sentient behaviour in the setting of active inference, which describes the behaviour of agents that model the consequences of their actions. We then introduce a formal account of intentional behaviour, that describes agents as driven by a preferred endpoint or goal in latent state-spaces. We then investigate these forms of (reactive, sentient, and intentional) behaviour using simulations. First, we simulate the aforementioned in vitro experiments, in which neuronal cultures spontaneously learn to play Pong, by implementing nested, free energy minimising processes. The simulations are then used to deconstruct the ensuing predictive behaviour, leading to the distinction between merely reactive, sentient, and
A Technical Reference for Autonomous Vehicles (AVs), with part 1 focusing on basic behaviour guidelines (TR68-1) is published with the intent to be a reference for evaluation of appropriated behaviour on Autonomous Vehicles for Singapore. This is based on applicability from Basic Theory of Driving (BTD) and Final Theory of Driving (FTD) which are the traffic code/rules for human driving. This report contains a consolidation of current guidelines from TR68-1, BTD and FTD. It will allow an initial identification of missing guidelines for AV behaviour on roads; however, it is difficult to identify conflicting rules or gaps in guidance without going into identified traffic situations. Identified situations for analysis were chosen from Centre of Excellence for Testing & Research of Autonomous Vehicle (CETRAN) assessment experience for further investigation. The outcome of the report proposes additional behaviour characteristics and guidelines to situations identified to close the gap between assessors and developers on expected AV behaviour. These recommendations could improve current guidelines for AV behavioural in assessment and generally for the local AV ecosystem for urban tro
Reactive Turing machines extend classical Turing machines with a facility to model observable interactive behaviour. We call a behaviour executable if, and only if, it is behaviourally equivalent to the behaviour of a reactive Turing machine. In this paper, we study the relationship between executable behaviour and behaviour that can be specified in the pi-calculus. We establish that all executable behaviour can be specified in the pi-calculus up to divergence-preserving branching bisimilarity. The converse, however, is not true due to (intended) limitations of the model of reactive Turing machines. That is, the pi-calculus allows the specification of behaviour that is not executable up to divergence-preserving branching bisimilarity. Motivated by an intuitive understanding of executability, we then consider a restriction on the operational semantics of the pi-calculus that does associate with every pi-term executable behaviour, at least up to the version of branching bisimilarity that does not require the preservation of divergence.
Recording animal behaviour is an important step in evaluating the well-being of animals and further understanding the natural world. Current methods for documenting animal behaviour within a zoo setting, such as scan sampling, require excessive human effort, are unfit for around-the-clock monitoring, and may produce human-biased results. Several animal datasets already exist that focus predominantly on wildlife interactions, with some extending to action or behaviour recognition. However, there is limited data in a zoo setting or data focusing on the group behaviours of social animals. We introduce a large meerkat (Suricata Suricatta) behaviour recognition video dataset with diverse annotated behaviours, including group social interactions, tracking of individuals within the camera view, skewed class distribution, and varying illumination conditions. This dataset includes videos from two positions within the meerkat enclosure at the Wellington Zoo (Wellington, New Zealand), with 848,400 annotated frames across 20 videos and 15 unannotated videos.
The objective of this paper is to explore the opportunities for human information behaviour research to inform and influence the field of machine learning and the resulting machine information behaviour. Using the development of foundation models in machine learning as an example, the paper illustrates how human information behaviour research can bring to machine learning a more nuanced view of information and informing, a better understanding of information need and how that affects the communication among people and systems, guidance on the nature of context and how to operationalize that in models and systems, and insights into bias, misinformation, and marginalization. Despite their clear differences, the fields of information behaviour and machine learning share many common objectives, paradigms, and key research questions. The example of foundation models illustrates that human information behaviour research has much to offer in addressing some of the challenges emerging in the nascent area of machine information behaviour.
Dataset distillation aims to condense large datasets into a small number of synthetic examples that can be used as drop-in replacements when training new models. It has applications to interpretability, neural architecture search, privacy, and continual learning. Despite strong successes in supervised domains, such methods have not yet been extended to reinforcement learning, where the lack of a fixed dataset renders most distillation methods unusable. Filling the gap, we formalize behaviour distillation, a setting that aims to discover and then condense the information required for training an expert policy into a synthetic dataset of state-action pairs, without access to expert data. We then introduce Hallucinating Datasets with Evolution Strategies (HaDES), a method for behaviour distillation that can discover datasets of just four state-action pairs which, under supervised learning, train agents to competitive performance levels in continuous control tasks. We show that these datasets generalize out of distribution to training policies with a wide range of architectures and hyperparameters. We also demonstrate application to a downstream task, namely training multi-task agents
Diffusion models have emerged as powerful generative models in the text-to-image domain. This paper studies their application as observation-to-action models for imitating human behaviour in sequential environments. Human behaviour is stochastic and multimodal, with structured correlations between action dimensions. Meanwhile, standard modelling choices in behaviour cloning are limited in their expressiveness and may introduce bias into the cloned policy. We begin by pointing out the limitations of these choices. We then propose that diffusion models are an excellent fit for imitating human behaviour, since they learn an expressive distribution over the joint action space. We introduce several innovations to make diffusion models suitable for sequential environments; designing suitable architectures, investigating the role of guidance, and developing reliable sampling strategies. Experimentally, diffusion models closely match human demonstrations in a simulated robotic control task and a modern 3D gaming environment.
The spreading behaviour of cohesive sand powder is modelled by Discrete Element Method, and the spreadability and the mechanical jamming are focused. The empty patches and total particle volume of the spread layer are examined, followed by the analysis of the geometry force and jamming structure. The results show that several empty patches with different size and shapes could be observed within the spread layer along the spreading direction even when the gap height increases to 3.0D90. Large particles are more difficult to be spread onto the base due to jamming, although their size is smaller than the gap height. Size segregation of particles occurs before particles entering the gap between the blade and base. There are almost no particles on the smooth base when the gap height is small, due to the full-slip flow of particles. The difference of the spread layer and spreadability between the cases with rough and smooth base is reduced by the increase of the gap height. An interesting correlation between jamming effect and local defects (empty spaces) in the powder layer is identified. The resistance to particle rolling is important for the mechanical jamming reported in this work. T
The understanding of the relationship between topology and behaviour in interconnected networks would allow to characterise and predict behaviour in many real complex networks since both are usually not simultaneously known. Most previous studies have focused on the relationship between topology and synchronisation. In this work, we provide analytical formulas that shows how topology drives complex behaviour: chaos, information, and weak or strong synchronisation; in multiplex networks with constant Jacobian. We also study this relationship numerically in multiplex networks of Hindmarsh-Rose neurons. Whereas behaviour in the analytically tractable network is a direct but not trivial consequence of the spectra of eigenvalues of the Laplacian matrix, where behaviour may strongly depend on the break of symmetry in the topology of interconnections, in Hindmarsh-Rose neural networks the nonlinear nature of the chemical synapses breaks the elegant mathematical connection between the spectra of eigenvalues of the Laplacian matrix and the behaviour of the network, creating networks whose behaviour strongly depends on the nature (chemical or electrical) of the inter synapses.
In many areas of interest, modern risk assessment requires estimation of the extremal behaviour of sums of random variables. We derive the first order upper-tail behaviour of the weighted sum of bivariate random variables under weak assumptions on their marginal distributions and their copula. The extremal behaviour of the marginal variables is characterised by the generalised Pareto distribution and their extremal dependence through subclasses of the limiting representations of Ledford and Tawn (1997) and Heffernan and Tawn (2004). We find that the upper tail behaviour of the aggregate is driven by different factors dependent on the signs of the marginal shape parameters; if they are both negative, the extremal behaviour of the aggregate is determined by both marginal shape parameters and the coefficient of asymptotic independence (Ledford and Tawn, 1996); if they are both positive or have different signs, the upper-tail behaviour of the aggregate is given solely by the largest marginal shape. We also derive the aggregate upper-tail behaviour for some well known copulae which reveals further insight into the tail structure when the copula falls outside the conditions for the subcl
Animal behaviour is complex and the amount of data in the form of video, if extracted, is copious. Manual analysis of behaviour is massively limited by two insurmountable obstacles, the complexity of the behavioural patterns and human bias. Automated visual analysis has the potential to eliminate both of these issues and also enable continuous analysis allowing a much higher bandwidth of data collection which is vital to capture complex behaviour at many different time scales. Behaviour is not confined to a finite set modules and thus we can only model it by inferring the generative distribution. In this way unpredictable, anomalous behaviour may be considered. Here we present a method of unsupervised behavioural analysis from nothing but high definition video recordings taken from a single, fixed perspective. We demonstrate that the identification of stereotyped rodent behaviour can be extracted in this way.
Human behaviour is dictated by past experiences via cumulative inertia (CI): the longer a certain behaviour has been going on, the less likely changes becomes. This is a well-known sociological phenomenon observed in employment, residence, addiction, criminal activity, wars, etc. Fundamentally, these all exhibit a growing resistance to change over time. However, quantifying the strength of this inertia is an ongoing challenge. Here we uncover anomalous cumulative inertia (ACI), ubiquitous across human behavioural patterns, with a much stronger memory dependence than previously anticipated. The behaviours undergo substantially stronger inertia, invalidating classical predictions for recovery, reconciliation, or rehabilitation times. We propose alternative models for predictions of continued anomalous behaviour, and provide means of identifying whether such behaviour is present. The result is a paradigm shift in our understanding of human activity from burstiness to inertia. Our results demonstrate how non-equilibrium models using fractional calculus aptly describe resistance to behavioural change, and produce novel predictions for e.g. rehabilitation of convicted individuals. The pr