7,097 research outputs found
The ABACOC Algorithm: a Novel Approach for Nonparametric Classification of Data Streams
Stream mining poses unique challenges to machine learning: predictive models
are required to be scalable, incrementally trainable, must remain bounded in
size (even when the data stream is arbitrarily long), and be nonparametric in
order to achieve high accuracy even in complex and dynamic environments.
Moreover, the learning system must be parameterless ---traditional tuning
methods are problematic in streaming settings--- and avoid requiring prior
knowledge of the number of distinct class labels occurring in the stream. In
this paper, we introduce a new algorithmic approach for nonparametric learning
in data streams. Our approach addresses all above mentioned challenges by
learning a model that covers the input space using simple local classifiers.
The distribution of these classifiers dynamically adapts to the local (unknown)
complexity of the classification problem, thus achieving a good balance between
model complexity and predictive accuracy. We design four variants of our
approach of increasing adaptivity. By means of an extensive empirical
evaluation against standard nonparametric baselines, we show state-of-the-art
results in terms of accuracy versus model size. For the variant that imposes a
strict bound on the model size, we show better performance against all other
methods measured at the same model size value. Our empirical analysis is
complemented by a theoretical performance guarantee which does not rely on any
stochastic assumption on the source generating the stream
Symbol Emergence in Robotics: A Survey
Humans can learn the use of language through physical interaction with their
environment and semiotic communication with other people. It is very important
to obtain a computational understanding of how humans can form a symbol system
and obtain semiotic skills through their autonomous mental development.
Recently, many studies have been conducted on the construction of robotic
systems and machine-learning methods that can learn the use of language through
embodied multimodal interaction with their environment and other systems.
Understanding human social interactions and developing a robot that can
smoothly communicate with human users in the long term, requires an
understanding of the dynamics of symbol systems and is crucially important. The
embodied cognition and social interaction of participants gradually change a
symbol system in a constructive manner. In this paper, we introduce a field of
research called symbol emergence in robotics (SER). SER is a constructive
approach towards an emergent symbol system. The emergent symbol system is
socially self-organized through both semiotic communications and physical
interactions with autonomous cognitive developmental agents, i.e., humans and
developmental robots. Specifically, we describe some state-of-art research
topics concerning SER, e.g., multimodal categorization, word discovery, and a
double articulation analysis, that enable a robot to obtain words and their
embodied meanings from raw sensory--motor information, including visual
information, haptic information, auditory information, and acoustic speech
signals, in a totally unsupervised manner. Finally, we suggest future
directions of research in SER.Comment: submitted to Advanced Robotic
Recovering from External Disturbances in Online Manipulation through State-Dependent Revertive Recovery Policies
Robots are increasingly entering uncertain and unstructured environments.
Within these, robots are bound to face unexpected external disturbances like
accidental human or tool collisions. Robots must develop the capacity to
respond to unexpected events. That is not only identifying the sudden anomaly,
but also deciding how to handle it. In this work, we contribute a recovery
policy that allows a robot to recovery from various anomalous scenarios across
different tasks and conditions in a consistent and robust fashion. The system
organizes tasks as a sequence of nodes composed of internal modules such as
motion generation and introspection. When an introspection module flags an
anomaly, the recovery strategy is triggered and reverts the task execution by
selecting a target node as a function of a state dependency chart. The new
skill allows the robot to overcome the effects of the external disturbance and
conclude the task. Our system recovers from accidental human and tool
collisions in a number of tasks. Of particular importance is the fact that we
test the robustness of the recovery system by triggering anomalies at each node
in the task graph showing robust recovery everywhere in the task. We also
trigger multiple and repeated anomalies at each of the nodes of the task
showing that the recovery system can consistently recover anywhere in the
presence of strong and pervasive anomalous conditions. Robust recovery systems
will be key enablers for long-term autonomy in robot systems. Supplemental info
including code, data, graphs, and result analysis can be found at [1].Comment: 8 pages, 8 figures, 1 tabl
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