2,696 research outputs found
Multi-Robot Symbolic Task and Motion Planning Leveraging Human Trust Models: Theory and Applications
Multi-robot systems (MRS) can accomplish more complex tasks with two or more robots and have produced a broad set of applications. The presence of a human operator in an MRS can guarantee the safety of the task performing, but the human operators can be subject to heavier stress and cognitive workload in collaboration with the MRS than the single robot. It is significant for the MRS to have the provable correct task and motion planning solution for a complex task. That can reduce the human workload during supervising the task and improve the reliability of human-MRS collaboration. This dissertation relies on formal verification to provide the provable-correct solution for the robotic system. One of the challenges in task and motion planning under temporal logic task specifications is developing computationally efficient MRS frameworks. The dissertation first presents an automaton-based task and motion planning framework for MRS to satisfy finite words of linear temporal logic (LTL) task specifications in parallel and concurrently. Furthermore, the dissertation develops a computational trust model to improve the human-MRS collaboration for a motion task. Notably, the current works commonly underemphasize the environmental attributes when investigating the impacting factors of human trust in robots. Our computational trust model builds a linear state-space (LSS) equation to capture the influence of environment attributes on human trust in an MRS. A Bayesian optimization based experimental design (BOED) is proposed to sequentially learn the human-MRS trust model parameters in a data-efficient way. Finally, the dissertation shapes a reward function for the human-MRS collaborated complex task by referring to the above LTL task specification and computational trust model. A Bayesian active reinforcement learning (RL) algorithm is used to concurrently learn the shaped reward function and explore the most trustworthy task and motion planning solution
Sparse Linear Identifiable Multivariate Modeling
In this paper we consider sparse and identifiable linear latent variable
(factor) and linear Bayesian network models for parsimonious analysis of
multivariate data. We propose a computationally efficient method for joint
parameter and model inference, and model comparison. It consists of a fully
Bayesian hierarchy for sparse models using slab and spike priors (two-component
delta-function and continuous mixtures), non-Gaussian latent factors and a
stochastic search over the ordering of the variables. The framework, which we
call SLIM (Sparse Linear Identifiable Multivariate modeling), is validated and
bench-marked on artificial and real biological data sets. SLIM is closest in
spirit to LiNGAM (Shimizu et al., 2006), but differs substantially in
inference, Bayesian network structure learning and model comparison.
Experimentally, SLIM performs equally well or better than LiNGAM with
comparable computational complexity. We attribute this mainly to the stochastic
search strategy used, and to parsimony (sparsity and identifiability), which is
an explicit part of the model. We propose two extensions to the basic i.i.d.
linear framework: non-linear dependence on observed variables, called SNIM
(Sparse Non-linear Identifiable Multivariate modeling) and allowing for
correlations between latent variables, called CSLIM (Correlated SLIM), for the
temporal and/or spatial data. The source code and scripts are available from
http://cogsys.imm.dtu.dk/slim/.Comment: 45 pages, 17 figure
A hybrid algorithm for Bayesian network structure learning with application to multi-label learning
We present a novel hybrid algorithm for Bayesian network structure learning,
called H2PC. It first reconstructs the skeleton of a Bayesian network and then
performs a Bayesian-scoring greedy hill-climbing search to orient the edges.
The algorithm is based on divide-and-conquer constraint-based subroutines to
learn the local structure around a target variable. We conduct two series of
experimental comparisons of H2PC against Max-Min Hill-Climbing (MMHC), which is
currently the most powerful state-of-the-art algorithm for Bayesian network
structure learning. First, we use eight well-known Bayesian network benchmarks
with various data sizes to assess the quality of the learned structure returned
by the algorithms. Our extensive experiments show that H2PC outperforms MMHC in
terms of goodness of fit to new data and quality of the network structure with
respect to the true dependence structure of the data. Second, we investigate
H2PC's ability to solve the multi-label learning problem. We provide
theoretical results to characterize and identify graphically the so-called
minimal label powersets that appear as irreducible factors in the joint
distribution under the faithfulness condition. The multi-label learning problem
is then decomposed into a series of multi-class classification problems, where
each multi-class variable encodes a label powerset. H2PC is shown to compare
favorably to MMHC in terms of global classification accuracy over ten
multi-label data sets covering different application domains. Overall, our
experiments support the conclusions that local structural learning with H2PC in
the form of local neighborhood induction is a theoretically well-motivated and
empirically effective learning framework that is well suited to multi-label
learning. The source code (in R) of H2PC as well as all data sets used for the
empirical tests are publicly available.Comment: arXiv admin note: text overlap with arXiv:1101.5184 by other author
How change agents and social capital influence the adoption of innovations among small farmers: Evidence from social networks in rural Bolivia
"This paper presents results from a study that identified patterns of social interaction among small farmers in three agricultural subsectors in Bolivia—fish culture, peanut production, and quinoa production—and analyzed how social interaction influences farmers' behavior toward the adoption of pro-poor innovations. Twelve microregions were identified, four in each subsector, setting the terrain for an analysis of parts of social networks that deal with the diffusion of specific sets of innovations. Three hundred sixty farmers involved in theses networks as well as 60 change agents and other actors promoting directly or indirectly the diffusion of innovations were interviewed about the interactions they maintain with other agents in the network and the sociodemographic characteristics that influence their adoption behavior. The information derived from this data collection was used to test a wide range of hypotheses on the impact that the embeddedness of farmers in social networks has on the intensity with which they adopt innovations. Evidence provided by the study suggests that persuasion, social influence, and competition are significant influences in the decisions of farmers in poor rural regions in Bolivia to adopt innovations. The results of this study are meant to attract the attention of policymakers and practitioners who are interested in the design and implementation of projects and programs fostering agricultural innovation and who may want to take into account the effects of social interaction and social capital. Meanwhile, scholars of the diffusion of innovations may find evidence to further embrace the complexity and interdependence of social interactions in their models and approaches." from Author's AbstractSocial networks, Agricultural innovation, Change agent, Social capital,
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