Efficient Model Learning for Human-Robot Collaborative Tasks

We present a framework for learning human user models from joint-action demonstrations that enables the robot to compute a robust policy for a collaborative task with a human. The learning takes place completely automatically, without any human intervention. First, we describe the clustering of demonstrated action sequences into different human types using an unsupervised learning algorithm. These demonstrated sequences are also used by the robot to learn a reward function that is representative for each type, through the employment of an inverse reinforcement learning algorithm. The learned model is then used as part of a Mixed Observability Markov Decision Process formulation, wherein the human type is a partially observable variable. With this framework, we can infer, either offline or online, the human type of a new user that was not included in the training set, and can compute a policy for the robot that will be aligned to the preference of this new user and will be robust to deviations of the human actions from prior demonstrations. Finally we validate the approach using data collected in human subject experiments, and conduct proof-of-concept demonstrations in which a person performs a collaborative task with a small industrial robot

The Importance of Being Clustered: Uncluttering the Trends of Statistics from 1970 to 2015

In this paper we retrace the recent history of statistics by analyzing all the papers published in five prestigious statistical journals since 1970, namely: Annals of Statistics, Biometrika, Journal of the American Statistical Association, Journal of the Royal Statistical Society, series B and Statistical Science. The aim is to construct a kind of "taxonomy" of the statistical papers by organizing and by clustering them in main themes. In this sense being identified in a cluster means being important enough to be uncluttered in the vast and interconnected world of the statistical research. Since the main statistical research topics naturally born, evolve or die during time, we will also develop a dynamic clustering strategy, where a group in a time period is allowed to migrate or to merge into different groups in the following one. Results show that statistics is a very dynamic and evolving science, stimulated by the rise of new research questions and types of data

Modeling the variability of rankings

For better or for worse, rankings of institutions, such as universities, schools and hospitals, play an important role today in conveying information about relative performance. They inform policy decisions and budgets, and are often reported in the media. While overall rankings can vary markedly over relatively short time periods, it is not unusual to find that the ranks of a small number of "highly performing" institutions remain fixed, even when the data on which the rankings are based are extensively revised, and even when a large number of new institutions are added to the competition. In the present paper, we endeavor to model this phenomenon. In particular, we interpret as a random variable the value of the attribute on which the ranking should ideally be based. More precisely, if $p$ items are to be ranked then the true, but unobserved, attributes are taken to be values of $p$ independent and identically distributed variates. However, each attribute value is observed only with noise, and via a sample of size roughly equal to $n$, say. These noisy approximations to the true attributes are the quantities that are actually ranked. We show that, if the distribution of the true attributes is light-tailed (e.g., normal or exponential) then the number of institutions whose ranking is correct, even after recalculation using new data and even after many new institutions are added, is essentially fixed. Formally, $p$ is taken to be of order $n^C$ for any fixed $C>0$, and the number of institutions whose ranking is reliable depends very little on $p$.Comment: Published in at http://dx.doi.org/10.1214/10-AOS794 the Annals of Statistics (http://www.imstat.org/aos/) by the Institute of Mathematical Statistics (http://www.imstat.org

Information-Theoretic Study of Voting Systems

The typical paradigm in voting theory involves n voters and m candidates. Every voter ranks the candidates resulting in a permutation of the m candidates. A key problem is to derive the aggregate result of the voting. A popular method for vote aggregation is based on the Condorcet criterion. The Condorcet winner is the candidate who wins every other candidate by pairwise majority. However, the main disadvantage of this approach, known as the Condorcet paradox, is that such a winner does not necessarily exist since this criterion does not admit transitivity. This paradox is mathematically likely (if voters assign rankings uniformly at random, then with probability approaching one with the number of candidates, there will not be a Condorcet winner), however, in real life scenarios such as elections, it is not likely to encounter the Condorcet paradox. In this paper we attempt to improve our intuition regarding the gap between the mathematics and reality of voting systems. We study a special case where there is global intransitivity between all candidates. We introduce tools from information theory and derive an entropy-based characterization of global intransitivity. In addition, we tighten this characterization by assuming that votes tend to be similar; in particular they can be modeled as permutations that are confined to a sphere defined by the Kendalls τ distance

Epitope profiling via mixture modeling of ranked data

We propose the use of probability models for ranked data as a useful alternative to a quantitative data analysis to investigate the outcome of bioassay experiments, when the preliminary choice of an appropriate normalization method for the raw numerical responses is difficult or subject to criticism. We review standard distance-based and multistage ranking models and in this last context we propose an original generalization of the Plackett-Luce model to account for the order of the ranking elicitation process. The usefulness of the novel model is illustrated with its maximum likelihood estimation for a real data set. Specifically, we address the heterogeneous nature of experimental units via model-based clustering and detail the necessary steps for a successful likelihood maximization through a hybrid version of the Expectation-Maximization algorithm. The performance of the mixture model using the new distribution as mixture components is compared with those relative to alternative mixture models for random rankings. A discussion on the interpretation of the identified clusters and a comparison with more standard quantitative approaches are finally provided.Comment: (revised to properly include references

An R package for analyzing and modeling ranking data

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