4,314 research outputs found
Modeling and interpolation of the ambient magnetic field by Gaussian processes
Anomalies in the ambient magnetic field can be used as features in indoor
positioning and navigation. By using Maxwell's equations, we derive and present
a Bayesian non-parametric probabilistic modeling approach for interpolation and
extrapolation of the magnetic field. We model the magnetic field components
jointly by imposing a Gaussian process (GP) prior on the latent scalar
potential of the magnetic field. By rewriting the GP model in terms of a
Hilbert space representation, we circumvent the computational pitfalls
associated with GP modeling and provide a computationally efficient and
physically justified modeling tool for the ambient magnetic field. The model
allows for sequential updating of the estimate and time-dependent changes in
the magnetic field. The model is shown to work well in practice in different
applications: we demonstrate mapping of the magnetic field both with an
inexpensive Raspberry Pi powered robot and on foot using a standard smartphone.Comment: 17 pages, 12 figures, to appear in IEEE Transactions on Robotic
LambdaOpt: Learn to Regularize Recommender Models in Finer Levels
Recommendation models mainly deal with categorical variables, such as
user/item ID and attributes. Besides the high-cardinality issue, the
interactions among such categorical variables are usually long-tailed, with the
head made up of highly frequent values and a long tail of rare ones. This
phenomenon results in the data sparsity issue, making it essential to
regularize the models to ensure generalization. The common practice is to
employ grid search to manually tune regularization hyperparameters based on the
validation data. However, it requires non-trivial efforts and large computation
resources to search the whole candidate space; even so, it may not lead to the
optimal choice, for which different parameters should have different
regularization strengths. In this paper, we propose a hyperparameter
optimization method, LambdaOpt, which automatically and adaptively enforces
regularization during training. Specifically, it updates the regularization
coefficients based on the performance of validation data. With LambdaOpt, the
notorious tuning of regularization hyperparameters can be avoided; more
importantly, it allows fine-grained regularization (i.e. each parameter can
have an individualized regularization coefficient), leading to better
generalized models. We show how to employ LambdaOpt on matrix factorization, a
classical model that is representative of a large family of recommender models.
Extensive experiments on two public benchmarks demonstrate the superiority of
our method in boosting the performance of top-K recommendation.Comment: Accepted by KDD 201
Recurrent Neural Networks with Top-k Gains for Session-based Recommendations
RNNs have been shown to be excellent models for sequential data and in
particular for data that is generated by users in an session-based manner. The
use of RNNs provides impressive performance benefits over classical methods in
session-based recommendations. In this work we introduce novel ranking loss
functions tailored to RNNs in the recommendation setting. The improved
performance of these losses over alternatives, along with further tricks and
refinements described in this work, allow for an overall improvement of up to
35% in terms of MRR and Recall@20 over previous session-based RNN solutions and
up to 53% over classical collaborative filtering approaches. Unlike data
augmentation-based improvements, our method does not increase training times
significantly. We further demonstrate the performance gain of the RNN over
baselines in an online A/B test.Comment: CIKM'18, authors' versio
Robust Online Hamiltonian Learning
In this work we combine two distinct machine learning methodologies,
sequential Monte Carlo and Bayesian experimental design, and apply them to the
problem of inferring the dynamical parameters of a quantum system. We design
the algorithm with practicality in mind by including parameters that control
trade-offs between the requirements on computational and experimental
resources. The algorithm can be implemented online (during experimental data
collection), avoiding the need for storage and post-processing. Most
importantly, our algorithm is capable of learning Hamiltonian parameters even
when the parameters change from experiment-to-experiment, and also when
additional noise processes are present and unknown. The algorithm also
numerically estimates the Cramer-Rao lower bound, certifying its own
performance.Comment: 24 pages, 12 figures; to appear in New Journal of Physic
Bayesian Matrix Completion via Adaptive Relaxed Spectral Regularization
Bayesian matrix completion has been studied based on a low-rank matrix
factorization formulation with promising results. However, little work has been
done on Bayesian matrix completion based on the more direct spectral
regularization formulation. We fill this gap by presenting a novel Bayesian
matrix completion method based on spectral regularization. In order to
circumvent the difficulties of dealing with the orthonormality constraints of
singular vectors, we derive a new equivalent form with relaxed constraints,
which then leads us to design an adaptive version of spectral regularization
feasible for Bayesian inference. Our Bayesian method requires no parameter
tuning and can infer the number of latent factors automatically. Experiments on
synthetic and real datasets demonstrate encouraging results on rank recovery
and collaborative filtering, with notably good results for very sparse
matrices.Comment: Accepted to AAAI 201
Human-Machine Collaborative Optimization via Apprenticeship Scheduling
Coordinating agents to complete a set of tasks with intercoupled temporal and
resource constraints is computationally challenging, yet human domain experts
can solve these difficult scheduling problems using paradigms learned through
years of apprenticeship. A process for manually codifying this domain knowledge
within a computational framework is necessary to scale beyond the
``single-expert, single-trainee" apprenticeship model. However, human domain
experts often have difficulty describing their decision-making processes,
causing the codification of this knowledge to become laborious. We propose a
new approach for capturing domain-expert heuristics through a pairwise ranking
formulation. Our approach is model-free and does not require enumerating or
iterating through a large state space. We empirically demonstrate that this
approach accurately learns multifaceted heuristics on a synthetic data set
incorporating job-shop scheduling and vehicle routing problems, as well as on
two real-world data sets consisting of demonstrations of experts solving a
weapon-to-target assignment problem and a hospital resource allocation problem.
We also demonstrate that policies learned from human scheduling demonstration
via apprenticeship learning can substantially improve the efficiency of a
branch-and-bound search for an optimal schedule. We employ this human-machine
collaborative optimization technique on a variant of the weapon-to-target
assignment problem. We demonstrate that this technique generates solutions
substantially superior to those produced by human domain experts at a rate up
to 9.5 times faster than an optimization approach and can be applied to
optimally solve problems twice as complex as those solved by a human
demonstrator.Comment: Portions of this paper were published in the Proceedings of the
International Joint Conference on Artificial Intelligence (IJCAI) in 2016 and
in the Proceedings of Robotics: Science and Systems (RSS) in 2016. The paper
consists of 50 pages with 11 figures and 4 table
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