Time Window Temporal Logic

This paper introduces time window temporal logic (TWTL), a rich expressivity language for describing various time bounded specifications. In particular, the syntax and semantics of TWTL enable the compact representation of serial tasks, which are typically seen in robotics and control applications. This paper also discusses the relaxation of TWTL formulae with respect to deadlines of tasks. Efficient automata-based frameworks to solve synthesis, verification and learning problems are also presented. The key ingredient to the presented solution is an algorithm to translate a TWTL formula to an annotated finite state automaton that encodes all possible temporal relaxations of the specification. Case studies illustrating the expressivity of the logic and the proposed algorithms are included

Time window temporal logic

This paper introduces time window temporal logic (TWTL), a rich expressive language for describing various time bounded specifications. In particular, the syntax and semantics of TWTL enable the compact representation of serial tasks, which are prevalent in various applications including robotics, sensor systems, and manufacturing systems. This paper also discusses the relaxation of TWTL formulae with respect to the deadlines of the tasks. Efficient automata-based frameworks are presented to solve synthesis, verification and learning problems. The key ingredient to the presented solution is an algorithm to translate a TWTL formula to an annotated finite state automaton that encodes all possible temporal relaxations of the given formula. Some case studies are presented to illustrate the expressivity of the logic and the proposed algorithms

Relaxations for inference in restricted Boltzmann machines

We propose a relaxation-based approximate inference algorithm that samples near-MAP configurations of a binary pairwise Markov random field. We experiment on MAP inference tasks in several restricted Boltzmann machines. We also use our underlying sampler to estimate the log-partition function of restricted Boltzmann machines and compare against other sampling-based methods.Comment: ICLR 2014 workshop track submissio

Methods for Structural Pattern Recognition: Complexity and Applications

Katedra kybernetik

Gradient-based Inference for Networks with Output Constraints

Practitioners apply neural networks to increasingly complex problems in natural language processing, such as syntactic parsing and semantic role labeling that have rich output structures. Many such structured-prediction problems require deterministic constraints on the output values; for example, in sequence-to-sequence syntactic parsing, we require that the sequential outputs encode valid trees. While hidden units might capture such properties, the network is not always able to learn such constraints from the training data alone, and practitioners must then resort to post-processing. In this paper, we present an inference method for neural networks that enforces deterministic constraints on outputs without performing rule-based post-processing or expensive discrete search. Instead, in the spirit of gradient-based training, we enforce constraints with gradient-based inference (GBI): for each input at test-time, we nudge continuous model weights until the network's unconstrained inference procedure generates an output that satisfies the constraints. We study the efficacy of GBI on three tasks with hard constraints: semantic role labeling, syntactic parsing, and sequence transduction. In each case, the algorithm not only satisfies constraints but improves accuracy, even when the underlying network is state-of-the-art.Comment: AAAI 201

Complexity of Discrete Energy Minimization Problems

Discrete energy minimization is widely-used in computer vision and machine learning for problems such as MAP inference in graphical models. The problem, in general, is notoriously intractable, and finding the global optimal solution is known to be NP-hard. However, is it possible to approximate this problem with a reasonable ratio bound on the solution quality in polynomial time? We show in this paper that the answer is no. Specifically, we show that general energy minimization, even in the 2-label pairwise case, and planar energy minimization with three or more labels are exp-APX-complete. This finding rules out the existence of any approximation algorithm with a sub-exponential approximation ratio in the input size for these two problems, including constant factor approximations. Moreover, we collect and review the computational complexity of several subclass problems and arrange them on a complexity scale consisting of three major complexity classes -- PO, APX, and exp-APX, corresponding to problems that are solvable, approximable, and inapproximable in polynomial time. Problems in the first two complexity classes can serve as alternative tractable formulations to the inapproximable ones. This paper can help vision researchers to select an appropriate model for an application or guide them in designing new algorithms.Comment: ECCV'16 accepte

Motion planning and control: a formal methods approach

Control of complex systems satisfying rich temporal specification has become an increasingly important research area in fields such as robotics, control, automotive, and manufacturing. Popular specification languages include temporal logics, such as Linear Temporal Logic (LTL) and Computational Tree Logic (CTL), which extend propositional logic to capture the temporal sequencing of system properties. The focus of this dissertation is on the control of high-dimensional systems and on timed specifications that impose explicit time bounds on the satisfaction of tasks. This work proposes and evaluates methods and algorithms for synthesizing provably correct control policies that deal with the scalability problems. Ideas and tools from formal verification, graph theory, and incremental computing are used to synthesize satisfying control strategies. Finite abstractions of the systems are generated, and then composed with automata encoding the specifications. The first part of this dissertation introduces a sampling-based motion planning algorithm that combines long-term temporal logic goals with short-term reactive requirements. The specification has two parts: (1) a global specification given as an LTL formula over a set of static service requests that occur at the regions of a known environment, and (2) a local specification that requires servicing a set of dynamic requests that can be sensed locally during the execution. The proposed computational framework consists of two main ingredients: (a) an off-line sampling-based algorithm for the construction of a global transition system that contains a path satisfying the LTL formula, and (b) an on-line sampling-based algorithm to generate paths that service the local requests, while making sure that the satisfaction of the global specification is not affected. The second part of the dissertation focuses on stochastic systems with temporal and uncertainty constraints. A specification language called Gaussian Distribution Temporal Logic is introduced as an extension of Boolean logic that incorporates temporal evolution and noise mitigation directly into the task specifications. A sampling-based algorithm to synthesize control policies is presented that generates a transition system in the belief space and uses local feedback controllers to break the curse of history associated with belief space planning. Switching control policies are then computed using a product Markov Decision Process between the transition system and the Rabin automaton encoding the specification.The approach is evaluated in experiments using a camera network and ground robot. The third part of this dissertation focuses on control of multi-vehicle systems with timed specifications and charging constraints. A rich expressivity language called Time Window Temporal Logic (TWTL) that describes time bounded specifications is introduced. The temporal relaxation of TWTL formulae with respect to the deadlines of tasks is also discussed. The key ingredient of the solution is an algorithm to translate a TWTL formula to an annotated finite state automaton that encodes all possible temporal relaxations of the given formula. The annotated automata are composed with transition systems encoding the motion of all vehicles, and with charging models to produce control strategies for all vehicles such that the overall system satisfies the mission specification. The methods are evaluated in simulation and experimental trials with quadrotors and charging stations

Generalized sequential tree-reweighted message passing

This paper addresses the problem of approximate MAP-MRF inference in general graphical models. Following [36], we consider a family of linear programming relaxations of the problem where each relaxation is specified by a set of nested pairs of factors for which the marginalization constraint needs to be enforced. We develop a generalization of the TRW-S algorithm [9] for this problem, where we use a decomposition into junction chains, monotonic w.r.t. some ordering on the nodes. This generalizes the monotonic chains in [9] in a natural way. We also show how to deal with nested factors in an efficient way. Experiments show an improvement over min-sum diffusion, MPLP and subgradient ascent algorithms on a number of computer vision and natural language processing problems