Indeterministic Handling of Uncertain Decisions in Duplicate Detection

In current research, duplicate detection is usually considered as a deterministic approach in which tuples are either declared as duplicates or not. However, most often it is not completely clear whether two tuples represent the same real-world entity or not. In deterministic approaches, however, this uncertainty is ignored, which in turn can lead to false decisions. In this paper, we present an indeterministic approach for handling uncertain decisions in a duplicate detection process by using a probabilistic target schema. Thus, instead of deciding between multiple possible worlds, all these worlds can be modeled in the resulting data. This approach minimizes the negative impacts of false decisions. Furthermore, the duplicate detection process becomes almost fully automatic and human effort can be reduced to a large extent. Unfortunately, a full-indeterministic approach is by definition too expensive (in time as well as in storage) and hence impractical. For that reason, we additionally introduce several semi-indeterministic methods for heuristically reducing the set of indeterministic handled decisions in a meaningful way

Characterizing the principle of minimum cross-entropy within a conditional-logical framework

AbstractThe principle of minimum cross-entropy (ME-principle) is often used as an elegant and powerful tool to build up complete probability distributions when only partial knowledge is available. The inputs it may be applied to are a prior distribution P and some new information R, and it yields as a result the one distribution P∗ that satisfies R and is closest to P in an information-theoretic sense. More generally, it provides a “best” solution to the problem “How to adjust P to R?”In this paper, we show how probabilistic conditionals allow a new and constructive approach to this important principle. Though popular and widely used for knowledge representation, conditionals quantified by probabilities are not easily dealt with. We develop four principles that describe their handling in a reasonable and consistent way, taking into consideration the conditional-logical as well as the numerical and probabilistic aspects. Finally, the ME-principle turns out to be the only method for adjusting a prior distribution to new conditional information that obeys all these principles.Thus a characterization of the ME-principle within a conditional-logical framework is achieved, and its implicit logical mechanisms are revealed clearly

Learning Human-Robot Collaboration Insights through the Integration of Muscle Activity in Interaction Motion Models

Recent progress in human-robot collaboration makes fast and fluid interactions possible, even when human observations are partial and occluded. Methods like Interaction Probabilistic Movement Primitives (ProMP) model human trajectories through motion capture systems. However, such representation does not properly model tasks where similar motions handle different objects. Under current approaches, a robot would not adapt its pose and dynamics for proper handling. We integrate the use of Electromyography (EMG) into the Interaction ProMP framework and utilize muscular signals to augment the human observation representation. The contribution of our paper is increased task discernment when trajectories are similar but tools are different and require the robot to adjust its pose for proper handling. Interaction ProMPs are used with an augmented vector that integrates muscle activity. Augmented time-normalized trajectories are used in training to learn correlation parameters and robot motions are predicted by finding the best weight combination and temporal scaling for a task. Collaborative single task scenarios with similar motions but different objects were used and compared. For one experiment only joint angles were recorded, for the other EMG signals were additionally integrated. Task recognition was computed for both tasks. Observation state vectors with augmented EMG signals were able to completely identify differences across tasks, while the baseline method failed every time. Integrating EMG signals into collaborative tasks significantly increases the ability of the system to recognize nuances in the tasks that are otherwise imperceptible, up to 74.6% in our studies. Furthermore, the integration of EMG signals for collaboration also opens the door to a wide class of human-robot physical interactions based on haptic communication that has been largely unexploited in the field.Comment: 7 pages, 2 figures, 2 tables. As submitted to Humanoids 201