A Deep Embedding Model for Co-occurrence Learning

Co-occurrence Data is a common and important information source in many areas, such as the word co-occurrence in the sentences, friends co-occurrence in social networks and products co-occurrence in commercial transaction data, etc, which contains rich correlation and clustering information about the items. In this paper, we study co-occurrence data using a general energy-based probabilistic model, and we analyze three different categories of energy-based model, namely, the $L_1$, $L_2$ and $L_k$ models, which are able to capture different levels of dependency in the co-occurrence data. We also discuss how several typical existing models are related to these three types of energy models, including the Fully Visible Boltzmann Machine (FVBM) ($L_2$), Matrix Factorization ($L_2$), Log-BiLinear (LBL) models ($L_2$), and the Restricted Boltzmann Machine (RBM) model ($L_k$). Then, we propose a Deep Embedding Model (DEM) (an $L_k$ model) from the energy model in a \emph{principled} manner. Furthermore, motivated by the observation that the partition function in the energy model is intractable and the fact that the major objective of modeling the co-occurrence data is to predict using the conditional probability, we apply the \emph{maximum pseudo-likelihood} method to learn DEM. In consequence, the developed model and its learning method naturally avoid the above difficulties and can be easily used to compute the conditional probability in prediction. Interestingly, our method is equivalent to learning a special structured deep neural network using back-propagation and a special sampling strategy, which makes it scalable on large-scale datasets. Finally, in the experiments, we show that the DEM can achieve comparable or better results than state-of-the-art methods on datasets across several application domains

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