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

Generative probabilistic models for image retrieval

Searching for information is a recurring problem that almost everyone has faced at some point. Being in a library looking for a book, searching through newspapers and magazines for an old article or searching through emails for an old conversation with a colleague are some examples of the searching activity. These are some of the many situations where someone; the “user”; has some vague idea of the information he is looking for; an “information need”; and is searching through a large number of documents, emails or articles; “information items”; to find the most “relevant” item for his purpose. In this thesis we study the problem of retrieving images from large image archives. We consider two different approaches for image retrieval. The first approach is content based image retrieval where the user is searching images using a query image. The second approach is semantic retrieval where the users expresses his query using keywords. We proposed a unified framework to treat both approaches using generative probabilistic models in order to rank and classify images with respect to user queries. The methodology presented in this Thesis is evaluated on a real image collection and compared against state of the art methods

Decorrelation of Neutral Vector Variables: Theory and Applications

In this paper, we propose novel strategies for neutral vector variable decorrelation. Two fundamental invertible transformations, namely serial nonlinear transformation and parallel nonlinear transformation, are proposed to carry out the decorrelation. For a neutral vector variable, which is not multivariate Gaussian distributed, the conventional principal component analysis (PCA) cannot yield mutually independent scalar variables. With the two proposed transformations, a highly negatively correlated neutral vector can be transformed to a set of mutually independent scalar variables with the same degrees of freedom. We also evaluate the decorrelation performances for the vectors generated from a single Dirichlet distribution and a mixture of Dirichlet distributions. The mutual independence is verified with the distance correlation measurement. The advantages of the proposed decorrelation strategies are intensively studied and demonstrated with synthesized data and practical application evaluations