Semantic-level decentralized multi-robot decision-making using probabilistic macro-observations

Robust environment perception is essential for decision-making on robots operating in complex domains. Intelligent task execution requires principled treatment of uncertainty sources in a robot's observation model. This is important not only for low-level observations (e.g., accelerom-eter data), but also for high-level observations such as semantic object labels. This paper formalizes the concept of macro-observations in Decentralized Partially Observable Semi-Markov Decision Processes (Dec-POSMDPs), allowing scalable semantic-level multi-robot decision making. A hierarchical Bayesian approach is used to model noise statistics of low-level classifier outputs, while simultaneously allowing sharing of domain noise characteristics between classes. Classification accuracy of the proposed macro-observation scheme, called Hierarchical Bayesian Noise Inference (HBNI), is shown to exceed existing methods. The macro-observation scheme is then integrated into a Dec-POSMDP planner, with hardware experiments running onboard a team of dynamic quadrotors in a challenging domain where noise-agnostic filtering fails. To the best of our knowledge, this is the first demonstration of a real-time, convolutional neural net-based classification framework running fully onboard a team of quadrotors in a multi-robot decision-making domain.Boeing Compan

Gene Function Classification Using Bayesian Models with Hierarchy-Based Priors

We investigate the application of hierarchical classification schemes to the annotation of gene function based on several characteristics of protein sequences including phylogenic descriptors, sequence based attributes, and predicted secondary structure. We discuss three Bayesian models and compare their performance in terms of predictive accuracy. These models are the ordinary multinomial logit (MNL) model, a hierarchical model based on a set of nested MNL models, and a MNL model with a prior that introduces correlations between the parameters for classes that are nearby in the hierarchy. We also provide a new scheme for combining different sources of information. We use these models to predict the functional class of Open Reading Frames (ORFs) from the E. coli genome. The results from all three models show substantial improvement over previous methods, which were based on the C5 algorithm. The MNL model using a prior based on the hierarchy outperforms both the non-hierarchical MNL model and the nested MNL model. In contrast to previous attempts at combining these sources of information, our approach results in a higher accuracy rate when compared to models that use each data source alone. Together, these results show that gene function can be predicted with higher accuracy than previously achieved, using Bayesian models that incorporate suitable prior information

Implementation strategies for hyperspectral unmixing using Bayesian source separation

Bayesian Positive Source Separation (BPSS) is a useful unsupervised approach for hyperspectral data unmixing, where numerical non-negativity of spectra and abundances has to be ensured, such in remote sensing. Moreover, it is sensible to impose a sum-to-one (full additivity) constraint to the estimated source abundances in each pixel. Even though non-negativity and full additivity are two necessary properties to get physically interpretable results, the use of BPSS algorithms has been so far limited by high computation time and large memory requirements due to the Markov chain Monte Carlo calculations. An implementation strategy which allows one to apply these algorithms on a full hyperspectral image, as typical in Earth and Planetary Science, is introduced. Effects of pixel selection, the impact of such sampling on the relevance of the estimated component spectra and abundance maps, as well as on the computation times, are discussed. For that purpose, two different dataset have been used: a synthetic one and a real hyperspectral image from Mars.Comment: 10 pages, 6 figures, submitted to IEEE Transactions on Geoscience and Remote Sensing in the special issue on Hyperspectral Image and Signal Processing (WHISPERS

Bayesian shrinkage in mixture-of-experts models: identifying robust determinants of class membership

A method for implicit variable selection in mixture-of-experts frameworks is proposed. We introduce a prior structure where information is taken from a set of independent covariates. Robust class membership predictors are identified using a normal gamma prior. The resulting model setup is used in a finite mixture of Bernoulli distributions to find homogenous clusters of women in Mozambique based on their information sources on HIV. Fully Bayesian inference is carried out via the implementation of a Gibbs sampler