Shared Autonomy via Hindsight Optimization

In shared autonomy, user input and robot autonomy are combined to control a robot to achieve a goal. Often, the robot does not know a priori which goal the user wants to achieve, and must both predict the user's intended goal, and assist in achieving that goal. We formulate the problem of shared autonomy as a Partially Observable Markov Decision Process with uncertainty over the user's goal. We utilize maximum entropy inverse optimal control to estimate a distribution over the user's goal based on the history of inputs. Ideally, the robot assists the user by solving for an action which minimizes the expected cost-to-go for the (unknown) goal. As solving the POMDP to select the optimal action is intractable, we use hindsight optimization to approximate the solution. In a user study, we compare our method to a standard predict-then-blend approach. We find that our method enables users to accomplish tasks more quickly while utilizing less input. However, when asked to rate each system, users were mixed in their assessment, citing a tradeoff between maintaining control authority and accomplishing tasks quickly

Towards a Holistic Integration of Spreadsheets with Databases: A Scalable Storage Engine for Presentational Data Management

Spreadsheet software is the tool of choice for interactive ad-hoc data management, with adoption by billions of users. However, spreadsheets are not scalable, unlike database systems. On the other hand, database systems, while highly scalable, do not support interactivity as a first-class primitive. We are developing DataSpread, to holistically integrate spreadsheets as a front-end interface with databases as a back-end datastore, providing scalability to spreadsheets, and interactivity to databases, an integration we term presentational data management (PDM). In this paper, we make a first step towards this vision: developing a storage engine for PDM, studying how to flexibly represent spreadsheet data within a database and how to support and maintain access by position. We first conduct an extensive survey of spreadsheet use to motivate our functional requirements for a storage engine for PDM. We develop a natural set of mechanisms for flexibly representing spreadsheet data and demonstrate that identifying the optimal representation is NP-Hard; however, we develop an efficient approach to identify the optimal representation from an important and intuitive subclass of representations. We extend our mechanisms with positional access mechanisms that don't suffer from cascading update issues, leading to constant time access and modification performance. We evaluate these representations on a workload of typical spreadsheets and spreadsheet operations, providing up to 20% reduction in storage, and up to 50% reduction in formula evaluation time

A Tutorial on Bayesian Optimization of Expensive Cost Functions, with Application to Active User Modeling and Hierarchical Reinforcement Learning

We present a tutorial on Bayesian optimization, a method of finding the maximum of expensive cost functions. Bayesian optimization employs the Bayesian technique of setting a prior over the objective function and combining it with evidence to get a posterior function. This permits a utility-based selection of the next observation to make on the objective function, which must take into account both exploration (sampling from areas of high uncertainty) and exploitation (sampling areas likely to offer improvement over the current best observation). We also present two detailed extensions of Bayesian optimization, with experiments---active user modelling with preferences, and hierarchical reinforcement learning---and a discussion of the pros and cons of Bayesian optimization based on our experiences

Intent-Aware Contextual Recommendation System

Recommender systems take inputs from user history, use an internal ranking algorithm to generate results and possibly optimize this ranking based on feedback. However, often the recommender system is unaware of the actual intent of the user and simply provides recommendations dynamically without properly understanding the thought process of the user. An intelligent recommender system is not only useful for the user but also for businesses which want to learn the tendencies of their users. Finding out tendencies or intents of a user is a difficult problem to solve. Keeping this in mind, we sought out to create an intelligent system which will keep track of the user's activity on a web-application as well as determine the intent of the user in each session. We devised a way to encode the user's activity through the sessions. Then, we have represented the information seen by the user in a high dimensional format which is reduced to lower dimensions using tensor factorization techniques. The aspect of intent awareness (or scoring) is dealt with at this stage. Finally, combining the user activity data with the contextual information gives the recommendation score. The final recommendations are then ranked using filtering and collaborative recommendation techniques to show the top-k recommendations to the user. A provision for feedback is also envisioned in the current system which informs the model to update the various weights in the recommender system. Our overall model aims to combine both frequency-based and context-based recommendation systems and quantify the intent of a user to provide better recommendations. We ran experiments on real-world timestamped user activity data, in the setting of recommending reports to the users of a business analytics tool and the results are better than the baselines. We also tuned certain aspects of our model to arrive at optimized results.Comment: Presented at the 5th International Workshop on Data Science and Big Data Analytics (DSBDA), 17th IEEE International Conference on Data Mining (ICDM) 2017; 8 pages; 4 figures; Due to the limitation "The abstract field cannot be longer than 1,920 characters," the abstract appearing here is slightly shorter than the one in the PDF fil