A Bayesian Approach toward Active Learning for Collaborative Filtering

Collaborative filtering is a useful technique for exploiting the preference patterns of a group of users to predict the utility of items for the active user. In general, the performance of collaborative filtering depends on the number of rated examples given by the active user. The more the number of rated examples given by the active user, the more accurate the predicted ratings will be. Active learning provides an effective way to acquire the most informative rated examples from active users. Previous work on active learning for collaborative filtering only considers the expected loss function based on the estimated model, which can be misleading when the estimated model is inaccurate. This paper takes one step further by taking into account of the posterior distribution of the estimated model, which results in more robust active learning algorithm. Empirical studies with datasets of movie ratings show that when the number of ratings from the active user is restricted to be small, active learning methods only based on the estimated model don't perform well while the active learning method using the model distribution achieves substantially better performance.Comment: Appears in Proceedings of the Twentieth Conference on Uncertainty in Artificial Intelligence (UAI2004

Planning for Decentralized Control of Multiple Robots Under Uncertainty

We describe a probabilistic framework for synthesizing control policies for general multi-robot systems, given environment and sensor models and a cost function. Decentralized, partially observable Markov decision processes (Dec-POMDPs) are a general model of decision processes where a team of agents must cooperate to optimize some objective (specified by a shared reward or cost function) in the presence of uncertainty, but where communication limitations mean that the agents cannot share their state, so execution must proceed in a decentralized fashion. While Dec-POMDPs are typically intractable to solve for real-world problems, recent research on the use of macro-actions in Dec-POMDPs has significantly increased the size of problem that can be practically solved as a Dec-POMDP. We describe this general model, and show how, in contrast to most existing methods that are specialized to a particular problem class, it can synthesize control policies that use whatever opportunities for coordination are present in the problem, while balancing off uncertainty in outcomes, sensor information, and information about other agents. We use three variations on a warehouse task to show that a single planner of this type can generate cooperative behavior using task allocation, direct communication, and signaling, as appropriate

Optimizing Memory-Bounded Controllers for Decentralized POMDPs

We present a memory-bounded optimization approach for solving infinite-horizon decentralized POMDPs. Policies for each agent are represented by stochastic finite state controllers. We formulate the problem of optimizing these policies as a nonlinear program, leveraging powerful existing nonlinear optimization techniques for solving the problem. While existing solvers only guarantee locally optimal solutions, we show that our formulation produces higher quality controllers than the state-of-the-art approach. We also incorporate a shared source of randomness in the form of a correlation device to further increase solution quality with only a limited increase in space and time. Our experimental results show that nonlinear optimization can be used to provide high quality, concise solutions to decentralized decision problems under uncertainty.Comment: Appears in Proceedings of the Twenty-Third Conference on Uncertainty in Artificial Intelligence (UAI2007

Improved Memory-Bounded Dynamic Programming for Decentralized POMDPs

Memory-Bounded Dynamic Programming (MBDP) has proved extremely effective in solving decentralized POMDPs with large horizons. We generalize the algorithm and improve its scalability by reducing the complexity with respect to the number of observations from exponential to polynomial. We derive error bounds on solution quality with respect to this new approximation and analyze the convergence behavior. To evaluate the effectiveness of the improvements, we introduce a new, larger benchmark problem. Experimental results show that despite the high complexity of decentralized POMDPs, scalable solution techniques such as MBDP perform surprisingly well.Comment: Appears in Proceedings of the Twenty-Third Conference on Uncertainty in Artificial Intelligence (UAI2007