Learning to Sequence Multiple Tasks with Competing Constraints

Imitation learning offers a general framework where robots can efficiently acquire novel motor skills from demonstrations of a human teacher. While many promising achievements have been shown, the majority of them are only focused on single-stroke movements, without taking into account the problem of multi-tasks sequencing. Conceivably, sequencing different atomic tasks can further augment the robot's capabilities as well as avoid repetitive demonstrations. In this paper, we propose to address the issue of multi-tasks sequencing with emphasis on handling the so-called competing constraints, which emerge due to the existence of the concurrent constraints from Cartesian and joint trajectories. Specifically, we explore the null space of the robot from an information-theoretic perspective in order to maintain imitation fidelity during transition between consecutive tasks. The effectiveness of the proposed method is validated through simulated and real experiments on the iCub humanoid robot

Simultaneous Learning of Nonlinear Manifold and Dynamical Models for High-dimensional Time Series

The goal of this work is to learn a parsimonious and informative representation for high-dimensional time series. Conceptually, this comprises two distinct yet tightly coupled tasks: learning a low-dimensional manifold and modeling the dynamical process. These two tasks have a complementary relationship as the temporal constraints provide valuable neighborhood information for dimensionality reduction and conversely, the low-dimensional space allows dynamics to be learnt efficiently. Solving these two tasks simultaneously allows important information to be exchanged mutually. If nonlinear models are required to capture the rich complexity of time series, then the learning problem becomes harder as the nonlinearities in both tasks are coupled. The proposed solution approximates the nonlinear manifold and dynamics using piecewise linear models. The interactions among the linear models are captured in a graphical model. By exploiting the model structure, efficient inference and learning algorithms are obtained without oversimplifying the model of the underlying dynamical process. Evaluation of the proposed framework with competing approaches is conducted in three sets of experiments: dimensionality reduction and reconstruction using synthetic time series, video synthesis using a dynamic texture database, and human motion synthesis, classification and tracking on a benchmark data set. In all experiments, the proposed approach provides superior performance.National Science Foundation (IIS 0308213, IIS 0329009, CNS 0202067

Mechanisms for the generation and regulation of sequential behaviour

A critical aspect of much human behaviour is the generation and regulation of sequential activities. Such behaviour is seen in both naturalistic settings such as routine action and language production and laboratory tasks such as serial recall and many reaction time experiments. There are a variety of computational mechanisms that may support the generation and regulation of sequential behaviours, ranging from those underlying Turing machines to those employed by recurrent connectionist networks. This paper surveys a range of such mechanisms, together with a range of empirical phenomena related to human sequential behaviour. It is argued that the empirical phenomena pose difficulties for most sequencing mechanisms, but that converging evidence from behavioural flexibility, error data arising from when the system is stressed or when it is damaged following brain injury, and between-trial effects in reaction time tasks, point to a hybrid symbolic activation-based mechanism for the generation and regulation of sequential behaviour. Some implications of this view for the nature of mental computation are highlighted

Competitive Collaboration: Joint Unsupervised Learning of Depth, Camera Motion, Optical Flow and Motion Segmentation

We address the unsupervised learning of several interconnected problems in low-level vision: single view depth prediction, camera motion estimation, optical flow, and segmentation of a video into the static scene and moving regions. Our key insight is that these four fundamental vision problems are coupled through geometric constraints. Consequently, learning to solve them together simplifies the problem because the solutions can reinforce each other. We go beyond previous work by exploiting geometry more explicitly and segmenting the scene into static and moving regions. To that end, we introduce Competitive Collaboration, a framework that facilitates the coordinated training of multiple specialized neural networks to solve complex problems. Competitive Collaboration works much like expectation-maximization, but with neural networks that act as both competitors to explain pixels that correspond to static or moving regions, and as collaborators through a moderator that assigns pixels to be either static or independently moving. Our novel method integrates all these problems in a common framework and simultaneously reasons about the segmentation of the scene into moving objects and the static background, the camera motion, depth of the static scene structure, and the optical flow of moving objects. Our model is trained without any supervision and achieves state-of-the-art performance among joint unsupervised methods on all sub-problems.Comment: CVPR 201

A canonical theory of dynamic decision-making

Decision-making behavior is studied in many very different fields, from medicine and eco- nomics to psychology and neuroscience, with major contributions from mathematics and statistics, computer science, AI, and other technical disciplines. However the conceptual- ization of what decision-making is and methods for studying it vary greatly and this has resulted in fragmentation of the field. A theory that can accommodate various perspectives may facilitate interdisciplinary working. We present such a theory in which decision-making is articulated as a set of canonical functions that are sufficiently general to accommodate diverse viewpoints, yet sufficiently precise that they can be instantiated in different ways for specific theoretical or practical purposes. The canons cover the whole decision cycle, from the framing of a decision based on the goals, beliefs, and background knowledge of the decision-maker to the formulation of decision options, establishing preferences over them, and making commitments. Commitments can lead to the initiation of new decisions and any step in the cycle can incorporate reasoning about previous decisions and the rationales for them, and lead to revising or abandoning existing commitments. The theory situates decision-making with respect to other high-level cognitive capabilities like problem solving, planning, and collaborative decision-making. The canonical approach is assessed in three domains: cognitive and neuropsychology, artificial intelligence, and decision engineering