Semantic-level decentralized multi-robot decision-making using probabilistic macro-observations

Robust environment perception is essential for decision-making on robots operating in complex domains. Intelligent task execution requires principled treatment of uncertainty sources in a robot's observation model. This is important not only for low-level observations (e.g., accelerom-eter data), but also for high-level observations such as semantic object labels. This paper formalizes the concept of macro-observations in Decentralized Partially Observable Semi-Markov Decision Processes (Dec-POSMDPs), allowing scalable semantic-level multi-robot decision making. A hierarchical Bayesian approach is used to model noise statistics of low-level classifier outputs, while simultaneously allowing sharing of domain noise characteristics between classes. Classification accuracy of the proposed macro-observation scheme, called Hierarchical Bayesian Noise Inference (HBNI), is shown to exceed existing methods. The macro-observation scheme is then integrated into a Dec-POSMDP planner, with hardware experiments running onboard a team of dynamic quadrotors in a challenging domain where noise-agnostic filtering fails. To the best of our knowledge, this is the first demonstration of a real-time, convolutional neural net-based classification framework running fully onboard a team of quadrotors in a multi-robot decision-making domain.Boeing Compan

Factorized Topic Models

In this paper we present a modification to a latent topic model, which makes the model exploit supervision to produce a factorized representation of the observed data. The structured parameterization separately encodes variance that is shared between classes from variance that is private to each class by the introduction of a new prior over the topic space. The approach allows for a more eff{}icient inference and provides an intuitive interpretation of the data in terms of an informative signal together with structured noise. The factorized representation is shown to enhance inference performance for image, text, and video classification.Comment: ICLR 201

Probabilistic Latent Tensor Factorization Model for Link Pattern Prediction in Multi-relational Networks

This paper aims at the problem of link pattern prediction in collections of objects connected by multiple relation types, where each type may play a distinct role. While common link analysis models are limited to single-type link prediction, we attempt here to capture the correlations among different relation types and reveal the impact of various relation types on performance quality. For that, we define the overall relations between object pairs as a \textit{link pattern} which consists in interaction pattern and connection structure in the network, and then use tensor formalization to jointly model and predict the link patterns, which we refer to as \textit{Link Pattern Prediction} (LPP) problem. To address the issue, we propose a Probabilistic Latent Tensor Factorization (PLTF) model by introducing another latent factor for multiple relation types and furnish the Hierarchical Bayesian treatment of the proposed probabilistic model to avoid overfitting for solving the LPP problem. To learn the proposed model we develop an efficient Markov Chain Monte Carlo sampling method. Extensive experiments are conducted on several real world datasets and demonstrate significant improvements over several existing state-of-the-art methods.Comment: 19pages, 5 figure