Sample Efficient Optimization for Learning Controllers for Bipedal Locomotion

Learning policies for bipedal locomotion can be difficult, as experiments are expensive and simulation does not usually transfer well to hardware. To counter this, we need al- gorithms that are sample efficient and inherently safe. Bayesian Optimization is a powerful sample-efficient tool for optimizing non-convex black-box functions. However, its performance can degrade in higher dimensions. We develop a distance metric for bipedal locomotion that enhances the sample-efficiency of Bayesian Optimization and use it to train a 16 dimensional neuromuscular model for planar walking. This distance metric reflects some basic gait features of healthy walking and helps us quickly eliminate a majority of unstable controllers. With our approach we can learn policies for walking in less than 100 trials for a range of challenging settings. In simulation, we show results on two different costs and on various terrains including rough ground and ramps, sloping upwards and downwards. We also perturb our models with unknown inertial disturbances analogous with differences between simulation and hardware. These results are promising, as they indicate that this method can potentially be used to learn control policies on hardware.Comment: To appear in International Conference on Humanoid Robots (Humanoids '2016), IEEE-RAS. (Rika Antonova and Akshara Rai contributed equally

Dealing with uncertain entities in ontology alignment using rough sets

This is the author's accepted manuscript. The final published article is available from the link below. Copyright @ 2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.Ontology alignment facilitates exchange of knowledge among heterogeneous data sources. Many approaches to ontology alignment use multiple similarity measures to map entities between ontologies. However, it remains a key challenge in dealing with uncertain entities for which the employed ontology alignment measures produce conflicting results on similarity of the mapped entities. This paper presents OARS, a rough-set based approach to ontology alignment which achieves a high degree of accuracy in situations where uncertainty arises because of the conflicting results generated by different similarity measures. OARS employs a combinational approach and considers both lexical and structural similarity measures. OARS is extensively evaluated with the benchmark ontologies of the ontology alignment evaluation initiative (OAEI) 2010, and performs best in the aspect of recall in comparison with a number of alignment systems while generating a comparable performance in precision