15,576 research outputs found
The Assistive Multi-Armed Bandit
Learning preferences implicit in the choices humans make is a well studied
problem in both economics and computer science. However, most work makes the
assumption that humans are acting (noisily) optimally with respect to their
preferences. Such approaches can fail when people are themselves learning about
what they want. In this work, we introduce the assistive multi-armed bandit,
where a robot assists a human playing a bandit task to maximize cumulative
reward. In this problem, the human does not know the reward function but can
learn it through the rewards received from arm pulls; the robot only observes
which arms the human pulls but not the reward associated with each pull. We
offer sufficient and necessary conditions for successfully assisting the human
in this framework. Surprisingly, better human performance in isolation does not
necessarily lead to better performance when assisted by the robot: a human
policy can do better by effectively communicating its observed rewards to the
robot. We conduct proof-of-concept experiments that support these results. We
see this work as contributing towards a theory behind algorithms for
human-robot interaction.Comment: Accepted to HRI 201
Identifying Sources and Sinks in the Presence of Multiple Agents with Gaussian Process Vector Calculus
In systems of multiple agents, identifying the cause of observed agent
dynamics is challenging. Often, these agents operate in diverse, non-stationary
environments, where models rely on hand-crafted environment-specific features
to infer influential regions in the system's surroundings. To overcome the
limitations of these inflexible models, we present GP-LAPLACE, a technique for
locating sources and sinks from trajectories in time-varying fields. Using
Gaussian processes, we jointly infer a spatio-temporal vector field, as well as
canonical vector calculus operations on that field. Notably, we do this from
only agent trajectories without requiring knowledge of the environment, and
also obtain a metric for denoting the significance of inferred causal features
in the environment by exploiting our probabilistic method. To evaluate our
approach, we apply it to both synthetic and real-world GPS data, demonstrating
the applicability of our technique in the presence of multiple agents, as well
as its superiority over existing methods.Comment: KDD '18 Proceedings of the 24th ACM SIGKDD International Conference
on Knowledge Discovery & Data Mining, Pages 1254-1262, 9 pages, 5 figures,
conference submission, University of Oxford. arXiv admin note: text overlap
with arXiv:1709.0235
Learning Task Specifications from Demonstrations
Real world applications often naturally decompose into several sub-tasks. In
many settings (e.g., robotics) demonstrations provide a natural way to specify
the sub-tasks. However, most methods for learning from demonstrations either do
not provide guarantees that the artifacts learned for the sub-tasks can be
safely recombined or limit the types of composition available. Motivated by
this deficit, we consider the problem of inferring Boolean non-Markovian
rewards (also known as logical trace properties or specifications) from
demonstrations provided by an agent operating in an uncertain, stochastic
environment. Crucially, specifications admit well-defined composition rules
that are typically easy to interpret. In this paper, we formulate the
specification inference task as a maximum a posteriori (MAP) probability
inference problem, apply the principle of maximum entropy to derive an analytic
demonstration likelihood model and give an efficient approach to search for the
most likely specification in a large candidate pool of specifications. In our
experiments, we demonstrate how learning specifications can help avoid common
problems that often arise due to ad-hoc reward composition.Comment: NIPS 201
ConXsense - Automated Context Classification for Context-Aware Access Control
We present ConXsense, the first framework for context-aware access control on
mobile devices based on context classification. Previous context-aware access
control systems often require users to laboriously specify detailed policies or
they rely on pre-defined policies not adequately reflecting the true
preferences of users. We present the design and implementation of a
context-aware framework that uses a probabilistic approach to overcome these
deficiencies. The framework utilizes context sensing and machine learning to
automatically classify contexts according to their security and privacy-related
properties. We apply the framework to two important smartphone-related use
cases: protection against device misuse using a dynamic device lock and
protection against sensory malware. We ground our analysis on a sociological
survey examining the perceptions and concerns of users related to contextual
smartphone security and analyze the effectiveness of our approach with
real-world context data. We also demonstrate the integration of our framework
with the FlaskDroid architecture for fine-grained access control enforcement on
the Android platform.Comment: Recipient of the Best Paper Awar
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