3,755 research outputs found
Integrating Human-Provided Information Into Belief State Representation Using Dynamic Factorization
In partially observed environments, it can be useful for a human to provide
the robot with declarative information that represents probabilistic relational
constraints on properties of objects in the world, augmenting the robot's
sensory observations. For instance, a robot tasked with a search-and-rescue
mission may be informed by the human that two victims are probably in the same
room. An important question arises: how should we represent the robot's
internal knowledge so that this information is correctly processed and combined
with raw sensory information? In this paper, we provide an efficient belief
state representation that dynamically selects an appropriate factoring,
combining aspects of the belief when they are correlated through information
and separating them when they are not. This strategy works in open domains, in
which the set of possible objects is not known in advance, and provides
significant improvements in inference time over a static factoring, leading to
more efficient planning for complex partially observed tasks. We validate our
approach experimentally in two open-domain planning problems: a 2D discrete
gridworld task and a 3D continuous cooking task. A supplementary video can be
found at http://tinyurl.com/chitnis-iros-18.Comment: IROS 2018 final versio
Learning and Reasoning for Robot Sequential Decision Making under Uncertainty
Robots frequently face complex tasks that require more than one action, where
sequential decision-making (SDM) capabilities become necessary. The key
contribution of this work is a robot SDM framework, called LCORPP, that
supports the simultaneous capabilities of supervised learning for passive state
estimation, automated reasoning with declarative human knowledge, and planning
under uncertainty toward achieving long-term goals. In particular, we use a
hybrid reasoning paradigm to refine the state estimator, and provide
informative priors for the probabilistic planner. In experiments, a mobile
robot is tasked with estimating human intentions using their motion
trajectories, declarative contextual knowledge, and human-robot interaction
(dialog-based and motion-based). Results suggest that, in efficiency and
accuracy, our framework performs better than its no-learning and no-reasoning
counterparts in office environment.Comment: In proceedings of 34th AAAI conference on Artificial Intelligence,
202
Bayesian decision support for complex systems with many distributed experts
Complex decision support systems often consist of component modules which, encoding the judgements of panels of domain experts, describe a particular sub-domain of the overall system. Ideally these modules need to be pasted together to provide a comprehensive picture of the whole process. The challenge of building such an integrated system is that, whilst the overall qualitative features are common knowledge to all, the explicit forecasts and their associated uncertainties are only expressed individually by each panel, resulting from its own analysis. The structure of the integrated system therefore needs to facilitate the coherent piecing together of these separate evaluations. If such a system is not available there is a serious danger that this might drive decision makers to incoherent and so indefensible policy choices. In this paper we develop a graphically based framework which embeds a set of conditions, consisting of the agreement usually made in practice of certain probability and utility models, that, if satisfied in a given context, are sufficient to ensure the composite system is truly coherent. Furthermore, we develop new message passing algorithms entailing the transmission of expected utility scores between the panels, that enable the uncertainties within each module to be fully accounted for in the evaluation of the available alternatives in these composite systems
Machine Learning and Integrative Analysis of Biomedical Big Data.
Recent developments in high-throughput technologies have accelerated the accumulation of massive amounts of omics data from multiple sources: genome, epigenome, transcriptome, proteome, metabolome, etc. Traditionally, data from each source (e.g., genome) is analyzed in isolation using statistical and machine learning (ML) methods. Integrative analysis of multi-omics and clinical data is key to new biomedical discoveries and advancements in precision medicine. However, data integration poses new computational challenges as well as exacerbates the ones associated with single-omics studies. Specialized computational approaches are required to effectively and efficiently perform integrative analysis of biomedical data acquired from diverse modalities. In this review, we discuss state-of-the-art ML-based approaches for tackling five specific computational challenges associated with integrative analysis: curse of dimensionality, data heterogeneity, missing data, class imbalance and scalability issues
A Survey on Bayesian Deep Learning
A comprehensive artificial intelligence system needs to not only perceive the
environment with different `senses' (e.g., seeing and hearing) but also infer
the world's conditional (or even causal) relations and corresponding
uncertainty. The past decade has seen major advances in many perception tasks
such as visual object recognition and speech recognition using deep learning
models. For higher-level inference, however, probabilistic graphical models
with their Bayesian nature are still more powerful and flexible. In recent
years, Bayesian deep learning has emerged as a unified probabilistic framework
to tightly integrate deep learning and Bayesian models. In this general
framework, the perception of text or images using deep learning can boost the
performance of higher-level inference and in turn, the feedback from the
inference process is able to enhance the perception of text or images. This
survey provides a comprehensive introduction to Bayesian deep learning and
reviews its recent applications on recommender systems, topic models, control,
etc. Besides, we also discuss the relationship and differences between Bayesian
deep learning and other related topics such as Bayesian treatment of neural
networks.Comment: To appear in ACM Computing Surveys (CSUR) 202
Collaborative Deep Learning for Recommender Systems
Collaborative filtering (CF) is a successful approach commonly used by many
recommender systems. Conventional CF-based methods use the ratings given to
items by users as the sole source of information for learning to make
recommendation. However, the ratings are often very sparse in many
applications, causing CF-based methods to degrade significantly in their
recommendation performance. To address this sparsity problem, auxiliary
information such as item content information may be utilized. Collaborative
topic regression (CTR) is an appealing recent method taking this approach which
tightly couples the two components that learn from two different sources of
information. Nevertheless, the latent representation learned by CTR may not be
very effective when the auxiliary information is very sparse. To address this
problem, we generalize recent advances in deep learning from i.i.d. input to
non-i.i.d. (CF-based) input and propose in this paper a hierarchical Bayesian
model called collaborative deep learning (CDL), which jointly performs deep
representation learning for the content information and collaborative filtering
for the ratings (feedback) matrix. Extensive experiments on three real-world
datasets from different domains show that CDL can significantly advance the
state of the art
Using graphical models and multi-attribute utility theory for probabilistic uncertainty handling in large systems, with application to nuclear emergency management
Although many decision-making problems involve uncertainty, uncertainty handling within large decision support systems (DSSs) is challenging. One domain where uncertainty handling is critical is emergency response management, in particular nuclear emergency response, where decision making takes place in an uncertain, dynamically changing environment. Assimilation and analysis of data can help to reduce these uncertainties, but it is critical to do this in an efficient and defensible way. After briefly introducing the structure of a typical DSS for nuclear emergencies, the paper sets up a theoretical structure that enables a formal Bayesian decision analysis to be performed for environments like this within a DSS architecture. In such probabilistic DSSs many input conditional probability distributions are provided by different sets of experts overseeing different aspects of the emergency. These probabilities are then used by the decision maker (DM) to find her optimal decision. We demonstrate in this paper that unless due care is taken in such a composite framework, coherence and rationality may be compromised in a sense made explicit below. The technology we describe here builds a framework around which Bayesian data updating can be performed in a modular way, ensuring both coherence and efficiency, and provides sufficient unambiguous information to enable the DM to discover her expected utility maximizing policy
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