Learning to Place New Objects

The ability to place objects in the environment is an important skill for a personal robot. An object should not only be placed stably, but should also be placed in its preferred location/orientation. For instance, a plate is preferred to be inserted vertically into the slot of a dish-rack as compared to be placed horizontally in it. Unstructured environments such as homes have a large variety of object types as well as of placing areas. Therefore our algorithms should be able to handle placing new object types and new placing areas. These reasons make placing a challenging manipulation task. In this work, we propose a supervised learning algorithm for finding good placements given the point-clouds of the object and the placing area. It learns to combine the features that capture support, stability and preferred placements using a shared sparsity structure in the parameters. Even when neither the object nor the placing area is seen previously in the training set, our algorithm predicts good placements. In extensive experiments, our method enables the robot to stably place several new objects in several new placing areas with 98% success-rate; and it placed the objects in their preferred placements in 92% of the cases

Fine-grained Search Space Classification for Hard Enumeration Variants of Subset Problems

We propose a simple, powerful, and flexible machine learning framework for (i) reducing the search space of computationally difficult enumeration variants of subset problems and (ii) augmenting existing state-of-the-art solvers with informative cues arising from the input distribution. We instantiate our framework for the problem of listing all maximum cliques in a graph, a central problem in network analysis, data mining, and computational biology. We demonstrate the practicality of our approach on real-world networks with millions of vertices and edges by not only retaining all optimal solutions, but also aggressively pruning the input instance size resulting in several fold speedups of state-of-the-art algorithms. Finally, we explore the limits of scalability and robustness of our proposed framework, suggesting that supervised learning is viable for tackling NP-hard problems in practice.Comment: AAAI 201

Representation Independent Analytics Over Structured Data

Database analytics algorithms leverage quantifiable structural properties of the data to predict interesting concepts and relationships. The same information, however, can be represented using many different structures and the structural properties observed over particular representations do not necessarily hold for alternative structures. Thus, there is no guarantee that current database analytics algorithms will still provide the correct insights, no matter what structures are chosen to organize the database. Because these algorithms tend to be highly effective over some choices of structure, such as that of the databases used to validate them, but not so effective with others, database analytics has largely remained the province of experts who can find the desired forms for these algorithms. We argue that in order to make database analytics usable, we should use or develop algorithms that are effective over a wide range of choices of structural organizations. We introduce the notion of representation independence, study its fundamental properties for a wide range of data analytics algorithms, and empirically analyze the amount of representation independence of some popular database analytics algorithms. Our results indicate that most algorithms are not generally representation independent and find the characteristics of more representation independent heuristics under certain representational shifts