Online Ensemble Learning of Sensorimotor Contingencies

Forward models play a key role in cognitive agents by providing predictions of the sensory consequences of motor commands, also known as sensorimotor contingencies (SMCs). In continuously evolving environments, the ability to anticipate is fundamental in distinguishing cognitive from reactive agents, and it is particularly relevant for autonomous robots, that must be able to adapt their models in an online manner. Online learning skills, high accuracy of the forward models and multiple-step-ahead predictions are needed to enhance the robots’ anticipation capabilities. We propose an online heterogeneous ensemble learning method for building accurate forward models of SMCs relating motor commands to effects in robots’ sensorimotor system, in particular considering proprioception and vision. Our method achieves up to 98% higher accuracy both in short and long term predictions, compared to single predictors and other online and offline homogeneous ensembles. This method is validated on two different humanoid robots, namely the iCub and the Baxter

Two-Stage Bagging Pruning for Reducing the Ensemble Size and Improving the Classification Performance

Ensemble methods, such as the traditional bagging algorithm, can usually improve the performance of a single classifier. However, they usually require large storage space as well as relatively time-consuming predictions. Many approaches were developed to reduce the ensemble size and improve the classification performance by pruning the traditional bagging algorithms. In this article, we proposed a two-stage strategy to prune the traditional bagging algorithm by combining two simple approaches: accuracy-based pruning (AP) and distance-based pruning (DP). These two methods, as well as their two combinations, “AP+DP” and “DP+AP” as the two-stage pruning strategy, were all examined. Comparing with the single pruning methods, we found that the two-stage pruning methods can furthermore reduce the ensemble size and improve the classification. “AP+DP” method generally performs better than the “DP+AP” method when using four base classifiers: decision tree, Gaussian naive Bayes, K-nearest neighbor, and logistic regression. Moreover, as compared to the traditional bagging, the two-stage method “AP+DP” improved the classification accuracy by 0.88%, 4.06%, 1.26%, and 0.96%, respectively, averaged over 28 datasets under the four base classifiers. It was also observed that “AP+DP” outperformed other three existing algorithms Brag, Nice, and TB assessed on 8 common datasets. In summary, the proposed two-stage pruning methods are simple and promising approaches, which can both reduce the ensemble size and improve the classification accuracy

Online Tool Condition Monitoring Based on Parsimonious Ensemble+

Accurate diagnosis of tool wear in metal turning process remains an open challenge for both scientists and industrial practitioners because of inhomogeneities in workpiece material, nonstationary machining settings to suit production requirements, and nonlinear relations between measured variables and tool wear. Common methodologies for tool condition monitoring still rely on batch approaches which cannot cope with a fast sampling rate of metal cutting process. Furthermore they require a retraining process to be completed from scratch when dealing with a new set of machining parameters. This paper presents an online tool condition monitoring approach based on Parsimonious Ensemble+, pENsemble+. The unique feature of pENsemble+ lies in its highly flexible principle where both ensemble structure and base-classifier structure can automatically grow and shrink on the fly based on the characteristics of data streams. Moreover, the online feature selection scenario is integrated to actively sample relevant input attributes. The paper presents advancement of a newly developed ensemble learning algorithm, pENsemble+, where online active learning scenario is incorporated to reduce operator labelling effort. The ensemble merging scenario is proposed which allows reduction of ensemble complexity while retaining its diversity. Experimental studies utilising real-world manufacturing data streams and comparisons with well known algorithms were carried out. Furthermore, the efficacy of pENsemble was examined using benchmark concept drift data streams. It has been found that pENsemble+ incurs low structural complexity and results in a significant reduction of operator labelling effort.Comment: this paper has been published by IEEE Transactions on Cybernetic

Building Combined Classifiers

This chapter covers different approaches that may be taken when building an ensemble method, through studying specific examples of each approach from research conducted by the authors. A method called Negative Correlation Learning illustrates a decision level combination approach with individual classifiers trained co-operatively. The Model level combination paradigm is illustrated via a tree combination method. Finally, another variant of the decision level paradigm, with individuals trained independently instead of co-operatively, is discussed as applied to churn prediction in the telecommunications industry