1,630 research outputs found
Hierarchical Decomposition of Nonlinear Dynamics and Control for System Identification and Policy Distillation
The control of nonlinear dynamical systems remains a major challenge for
autonomous agents. Current trends in reinforcement learning (RL) focus on
complex representations of dynamics and policies, which have yielded impressive
results in solving a variety of hard control tasks. However, this new
sophistication and extremely over-parameterized models have come with the cost
of an overall reduction in our ability to interpret the resulting policies. In
this paper, we take inspiration from the control community and apply the
principles of hybrid switching systems in order to break down complex dynamics
into simpler components. We exploit the rich representational power of
probabilistic graphical models and derive an expectation-maximization (EM)
algorithm for learning a sequence model to capture the temporal structure of
the data and automatically decompose nonlinear dynamics into stochastic
switching linear dynamical systems. Moreover, we show how this framework of
switching models enables extracting hierarchies of Markovian and
auto-regressive locally linear controllers from nonlinear experts in an
imitation learning scenario.Comment: 2nd Annual Conference on Learning for Dynamics and Contro
Prosody-Based Automatic Segmentation of Speech into Sentences and Topics
A crucial step in processing speech audio data for information extraction,
topic detection, or browsing/playback is to segment the input into sentence and
topic units. Speech segmentation is challenging, since the cues typically
present for segmenting text (headers, paragraphs, punctuation) are absent in
spoken language. We investigate the use of prosody (information gleaned from
the timing and melody of speech) for these tasks. Using decision tree and
hidden Markov modeling techniques, we combine prosodic cues with word-based
approaches, and evaluate performance on two speech corpora, Broadcast News and
Switchboard. Results show that the prosodic model alone performs on par with,
or better than, word-based statistical language models -- for both true and
automatically recognized words in news speech. The prosodic model achieves
comparable performance with significantly less training data, and requires no
hand-labeling of prosodic events. Across tasks and corpora, we obtain a
significant improvement over word-only models using a probabilistic combination
of prosodic and lexical information. Inspection reveals that the prosodic
models capture language-independent boundary indicators described in the
literature. Finally, cue usage is task and corpus dependent. For example, pause
and pitch features are highly informative for segmenting news speech, whereas
pause, duration and word-based cues dominate for natural conversation.Comment: 30 pages, 9 figures. To appear in Speech Communication 32(1-2),
Special Issue on Accessing Information in Spoken Audio, September 200
Multi-State Models for Panel Data: The msm Package for R
Panel data are observations of a continuous-time process at arbitrary times, for example, visits to a hospital to diagnose disease status. Multi-state models for such data are generally based on the Markov assumption. This article reviews the range of Markov models and their extensions which can be fitted to panel-observed data, and their implementation in the msm package for R. Transition intensities may vary between individuals, or with piecewise-constant time-dependent covariates, giving an inhomogeneous Markov model. Hidden Markov models can be used for multi-state processes which are misclassified or observed only through a noisy marker. The package is intended to be straightforward to use, flexible and comprehensively documented. Worked examples are given of the use of msm to model chronic disease progression and screening. Assessment of model fit, and potential future developments of the software, are also discussed.
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