2,284 research outputs found
The Bayesian Case Model: A Generative Approach for Case-Based Reasoning and Prototype Classification
We present the Bayesian Case Model (BCM), a general framework for Bayesian
case-based reasoning (CBR) and prototype classification and clustering. BCM
brings the intuitive power of CBR to a Bayesian generative framework. The BCM
learns prototypes, the "quintessential" observations that best represent
clusters in a dataset, by performing joint inference on cluster labels,
prototypes and important features. Simultaneously, BCM pursues sparsity by
learning subspaces, the sets of features that play important roles in the
characterization of the prototypes. The prototype and subspace representation
provides quantitative benefits in interpretability while preserving
classification accuracy. Human subject experiments verify statistically
significant improvements to participants' understanding when using explanations
produced by BCM, compared to those given by prior art.Comment: Published in Neural Information Processing Systems (NIPS) 2014,
Neural Information Processing Systems (NIPS) 201
Predicting ConceptNet Path Quality Using Crowdsourced Assessments of Naturalness
In many applications, it is important to characterize the way in which two
concepts are semantically related. Knowledge graphs such as ConceptNet provide
a rich source of information for such characterizations by encoding relations
between concepts as edges in a graph. When two concepts are not directly
connected by an edge, their relationship can still be described in terms of the
paths that connect them. Unfortunately, many of these paths are uninformative
and noisy, which means that the success of applications that use such path
features crucially relies on their ability to select high-quality paths. In
existing applications, this path selection process is based on relatively
simple heuristics. In this paper we instead propose to learn to predict path
quality from crowdsourced human assessments. Since we are interested in a
generic task-independent notion of quality, we simply ask human participants to
rank paths according to their subjective assessment of the paths' naturalness,
without attempting to define naturalness or steering the participants towards
particular indicators of quality. We show that a neural network model trained
on these assessments is able to predict human judgments on unseen paths with
near optimal performance. Most notably, we find that the resulting path
selection method is substantially better than the current heuristic approaches
at identifying meaningful paths.Comment: In Proceedings of the Web Conference (WWW) 201
Inferring Robot Task Plans from Human Team Meetings: A Generative Modeling Approach with Logic-Based Prior
We aim to reduce the burden of programming and deploying autonomous systems
to work in concert with people in time-critical domains, such as military field
operations and disaster response. Deployment plans for these operations are
frequently negotiated on-the-fly by teams of human planners. A human operator
then translates the agreed upon plan into machine instructions for the robots.
We present an algorithm that reduces this translation burden by inferring the
final plan from a processed form of the human team's planning conversation. Our
approach combines probabilistic generative modeling with logical plan
validation used to compute a highly structured prior over possible plans. This
hybrid approach enables us to overcome the challenge of performing inference
over the large solution space with only a small amount of noisy data from the
team planning session. We validate the algorithm through human subject
experimentation and show we are able to infer a human team's final plan with
83% accuracy on average. We also describe a robot demonstration in which two
people plan and execute a first-response collaborative task with a PR2 robot.
To the best of our knowledge, this is the first work that integrates a logical
planning technique within a generative model to perform plan inference.Comment: Appears in Proceedings of the Twenty-Seventh AAAI Conference on
Artificial Intelligence (AAAI-13
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
Discovering Blind Spots in Reinforcement Learning
Agents trained in simulation may make errors in the real world due to
mismatches between training and execution environments. These mistakes can be
dangerous and difficult to discover because the agent cannot predict them a
priori. We propose using oracle feedback to learn a predictive model of these
blind spots to reduce costly errors in real-world applications. We focus on
blind spots in reinforcement learning (RL) that occur due to incomplete state
representation: The agent does not have the appropriate features to represent
the true state of the world and thus cannot distinguish among numerous states.
We formalize the problem of discovering blind spots in RL as a noisy supervised
learning problem with class imbalance. We learn models to predict blind spots
in unseen regions of the state space by combining techniques for label
aggregation, calibration, and supervised learning. The models take into
consideration noise emerging from different forms of oracle feedback, including
demonstrations and corrections. We evaluate our approach on two domains and
show that it achieves higher predictive performance than baseline methods, and
that the learned model can be used to selectively query an oracle at execution
time to prevent errors. We also empirically analyze the biases of various
feedback types and how they influence the discovery of blind spots.Comment: To appear at AAMAS 201
Queueing Theory Analysis of Labor & Delivery at a Tertiary Care Center
Labor and Delivery is a complex clinical service requiring the support of highly trained healthcare professionals from Obstetrics, Anesthesiology, and Neonatology and the access to a finite set of valuable resources. In the United States, the rate of cesarean sections on labor floors is approximately twice as high as considered appropriate for patient care. We analyze one month of data from a Boston-area hospital to assess how well the labor and delivery process can be modelled with tools from queueing theory. We find that the labor and delivery process is highly amenable to analysis under queueing theory models. We also investigate the problem of high cesarean section rates and the potential effects of resource utilization of lowering the rate of cesarean section
Towards Interpretable Explanations for Transfer Learning in Sequential Tasks
People increasingly rely on machine learning (ML) to make intelligent decisions. However, the ML results are often difficult to interpret and the algorithms do not support interaction to solicit clarification or explanation. In this paper, we highlight an emerging research area of interpretable explanations for transfer learning in sequential tasks, in which an agent must explain how it learns a new task given prior, common knowledge. The goal is to enhance a user’s ability to trust and use the system output and to enable iterative feedback for improving the system. We review prior work in probabilistic systems, sequential decision-making, interpretable explanations, transfer learning, and interactive machine learning, and identify an intersection that deserves further research focus. We believe that developing adaptive, transparent learning models will build the foundation for better human-machine systems in applications for elder care, education, and health care
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