60 research outputs found
Submodularity of Energy Related Controllability Metrics
The quantification of controllability and observability has recently received
new interest in the context of large, complex networks of dynamical systems. A
fundamental but computationally difficult problem is the placement or selection
of actuators and sensors that optimize real-valued controllability and
observability metrics of the network. We show that several classes of energy
related metrics associated with the controllability Gramian in linear dynamical
systems have a strong structural property, called submodularity. This property
allows for an approximation guarantee by using a simple greedy heuristic for
their maximization. The results are illustrated for randomly generated systems
and for placement of power electronic actuators in a model of the European
power grid.Comment: 7 pages, 2 figures; submitted to the 2014 IEEE Conference on Decision
and Contro
Budget-Constrained Item Cold-Start Handling in Collaborative Filtering Recommenders via Optimal Design
It is well known that collaborative filtering (CF) based recommender systems
provide better modeling of users and items associated with considerable rating
history. The lack of historical ratings results in the user and the item
cold-start problems. The latter is the main focus of this work. Most of the
current literature addresses this problem by integrating content-based
recommendation techniques to model the new item. However, in many cases such
content is not available, and the question arises is whether this problem can
be mitigated using CF techniques only. We formalize this problem as an
optimization problem: given a new item, a pool of available users, and a budget
constraint, select which users to assign with the task of rating the new item
in order to minimize the prediction error of our model. We show that the
objective function is monotone-supermodular, and propose efficient optimal
design based algorithms that attain an approximation to its optimum. Our
findings are verified by an empirical study using the Netflix dataset, where
the proposed algorithms outperform several baselines for the problem at hand.Comment: 11 pages, 2 figure
Adaptive Information Gathering via Imitation Learning
In the adaptive information gathering problem, a policy is required to select
an informative sensing location using the history of measurements acquired thus
far. While there is an extensive amount of prior work investigating effective
practical approximations using variants of Shannon's entropy, the efficacy of
such policies heavily depends on the geometric distribution of objects in the
world. On the other hand, the principled approach of employing online POMDP
solvers is rendered impractical by the need to explicitly sample online from a
posterior distribution of world maps.
We present a novel data-driven imitation learning framework to efficiently
train information gathering policies. The policy imitates a clairvoyant oracle
- an oracle that at train time has full knowledge about the world map and can
compute maximally informative sensing locations. We analyze the learnt policy
by showing that offline imitation of a clairvoyant oracle is implicitly
equivalent to online oracle execution in conjunction with posterior sampling.
This observation allows us to obtain powerful near-optimality guarantees for
information gathering problems possessing an adaptive sub-modularity property.
As demonstrated on a spectrum of 2D and 3D exploration problems, the trained
policies enjoy the best of both worlds - they adapt to different world map
distributions while being computationally inexpensive to evaluate.Comment: Robotics Science and Systems, 201
Click Carving: Segmenting Objects in Video with Point Clicks
We present a novel form of interactive video object segmentation where a few
clicks by the user helps the system produce a full spatio-temporal segmentation
of the object of interest. Whereas conventional interactive pipelines take the
user's initialization as a starting point, we show the value in the system
taking the lead even in initialization. In particular, for a given video frame,
the system precomputes a ranked list of thousands of possible segmentation
hypotheses (also referred to as object region proposals) using image and motion
cues. Then, the user looks at the top ranked proposals, and clicks on the
object boundary to carve away erroneous ones. This process iterates (typically
2-3 times), and each time the system revises the top ranked proposal set, until
the user is satisfied with a resulting segmentation mask. Finally, the mask is
propagated across the video to produce a spatio-temporal object tube. On three
challenging datasets, we provide extensive comparisons with both existing work
and simpler alternative methods. In all, the proposed Click Carving approach
strikes an excellent balance of accuracy and human effort. It outperforms all
similarly fast methods, and is competitive or better than those requiring 2 to
12 times the effort.Comment: A preliminary version of the material in this document was filed as
University of Texas technical report no. UT AI16-0
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