6,539 research outputs found
Robot Introspection with Bayesian Nonparametric Vector Autoregressive Hidden Markov Models
Robot introspection, as opposed to anomaly detection typical in process
monitoring, helps a robot understand what it is doing at all times. A robot
should be able to identify its actions not only when failure or novelty occurs,
but also as it executes any number of sub-tasks. As robots continue their quest
of functioning in unstructured environments, it is imperative they understand
what is it that they are actually doing to render them more robust. This work
investigates the modeling ability of Bayesian nonparametric techniques on
Markov Switching Process to learn complex dynamics typical in robot contact
tasks. We study whether the Markov switching process, together with Bayesian
priors can outperform the modeling ability of its counterparts: an HMM with
Bayesian priors and without. The work was tested in a snap assembly task
characterized by high elastic forces. The task consists of an insertion subtask
with very complex dynamics. Our approach showed a stronger ability to
generalize and was able to better model the subtask with complex dynamics in a
computationally efficient way. The modeling technique is also used to learn a
growing library of robot skills, one that when integrated with low-level
control allows for robot online decision making.Comment: final version submitted to humanoids 201
Practical Attacks Against Graph-based Clustering
Graph modeling allows numerous security problems to be tackled in a general
way, however, little work has been done to understand their ability to
withstand adversarial attacks. We design and evaluate two novel graph attacks
against a state-of-the-art network-level, graph-based detection system. Our
work highlights areas in adversarial machine learning that have not yet been
addressed, specifically: graph-based clustering techniques, and a global
feature space where realistic attackers without perfect knowledge must be
accounted for (by the defenders) in order to be practical. Even though less
informed attackers can evade graph clustering with low cost, we show that some
practical defenses are possible.Comment: ACM CCS 201
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