14,422 research outputs found
Multi-resolution Tensor Learning for Large-Scale Spatial Data
High-dimensional tensor models are notoriously computationally expensive to
train. We present a meta-learning algorithm, MMT, that can significantly speed
up the process for spatial tensor models. MMT leverages the property that
spatial data can be viewed at multiple resolutions, which are related by
coarsening and finegraining from one resolution to another. Using this
property, MMT learns a tensor model by starting from a coarse resolution and
iteratively increasing the model complexity. In order to not "over-train" on
coarse resolution models, we investigate an information-theoretic fine-graining
criterion to decide when to transition into higher-resolution models. We
provide both theoretical and empirical evidence for the advantages of this
approach. When applied to two real-world large-scale spatial datasets for
basketball player and animal behavior modeling, our approach demonstrate 3 key
benefits: 1) it efficiently captures higher-order interactions (i.e., tensor
latent factors), 2) it is orders of magnitude faster than fixed resolution
learning and scales to very fine-grained spatial resolutions, and 3) it
reliably yields accurate and interpretable models
Human-Robot Trust Integrated Task Allocation and Symbolic Motion planning for Heterogeneous Multi-robot Systems
This paper presents a human-robot trust integrated task allocation and motion
planning framework for multi-robot systems (MRS) in performing a set of tasks
concurrently. A set of task specifications in parallel are conjuncted with MRS
to synthesize a task allocation automaton. Each transition of the task
allocation automaton is associated with the total trust value of human in
corresponding robots. Here, the human-robot trust model is constructed with a
dynamic Bayesian network (DBN) by considering individual robot performance,
safety coefficient, human cognitive workload and overall evaluation of task
allocation. Hence, a task allocation path with maximum encoded human-robot
trust can be searched based on the current trust value of each robot in the
task allocation automaton. Symbolic motion planning (SMP) is implemented for
each robot after they obtain the sequence of actions. The task allocation path
can be intermittently updated with this DBN based trust model. The overall
strategy is demonstrated by a simulation with 5 robots and 3 parallel subtask
automata
Generating Long-term Trajectories Using Deep Hierarchical Networks
We study the problem of modeling spatiotemporal trajectories over long time
horizons using expert demonstrations. For instance, in sports, agents often
choose action sequences with long-term goals in mind, such as achieving a
certain strategic position. Conventional policy learning approaches, such as
those based on Markov decision processes, generally fail at learning cohesive
long-term behavior in such high-dimensional state spaces, and are only
effective when myopic modeling lead to the desired behavior. The key difficulty
is that conventional approaches are "shallow" models that only learn a single
state-action policy. We instead propose a hierarchical policy class that
automatically reasons about both long-term and short-term goals, which we
instantiate as a hierarchical neural network. We showcase our approach in a
case study on learning to imitate demonstrated basketball trajectories, and
show that it generates significantly more realistic trajectories compared to
non-hierarchical baselines as judged by professional sports analysts.Comment: Published in NIPS 201
Invertible condition of quantum Fisher information matrix for a mixed qubit
Estimating multiparamter simultaneously as precise as possible is an
important goal of quantum metrolo- gy. As a first step to this end, here we
give a condition determining whether two arbitrary parameters can be estimated
simultaneously for a qubit in the mixed state. An application of this condition
is shown.Comment: The European Physical Journal D 201
End-to-end Learning for Short Text Expansion
Effectively making sense of short texts is a critical task for many real
world applications such as search engines, social media services, and
recommender systems. The task is particularly challenging as a short text
contains very sparse information, often too sparse for a machine learning
algorithm to pick up useful signals. A common practice for analyzing short text
is to first expand it with external information, which is usually harvested
from a large collection of longer texts. In literature, short text expansion
has been done with all kinds of heuristics. We propose an end-to-end solution
that automatically learns how to expand short text to optimize a given learning
task. A novel deep memory network is proposed to automatically find relevant
information from a collection of longer documents and reformulate the short
text through a gating mechanism. Using short text classification as a
demonstrating task, we show that the deep memory network significantly
outperforms classical text expansion methods with comprehensive experiments on
real world data sets.Comment: KDD'201
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