Learning Dynamic Robot-to-Human Object Handover from Human Feedback

Object handover is a basic, but essential capability for robots interacting with humans in many applications, e.g., caring for the elderly and assisting workers in manufacturing workshops. It appears deceptively simple, as humans perform object handover almost flawlessly. The success of humans, however, belies the complexity of object handover as collaborative physical interaction between two agents with limited communication. This paper presents a learning algorithm for dynamic object handover, for example, when a robot hands over water bottles to marathon runners passing by the water station. We formulate the problem as contextual policy search, in which the robot learns object handover by interacting with the human. A key challenge here is to learn the latent reward of the handover task under noisy human feedback. Preliminary experiments show that the robot learns to hand over a water bottle naturally and that it adapts to the dynamics of human motion. One challenge for the future is to combine the model-free learning algorithm with a model-based planning approach and enable the robot to adapt over human preferences and object characteristics, such as shape, weight, and surface texture.Comment: Appears in the Proceedings of the International Symposium on Robotics Research (ISRR) 201

Robustness of Bayesian Pool-based Active Learning Against Prior Misspecification

We study the robustness of active learning (AL) algorithms against prior misspecification: whether an algorithm achieves similar performance using a perturbed prior as compared to using the true prior. In both the average and worst cases of the maximum coverage setting, we prove that all $\alpha$-approximate algorithms are robust (i.e., near $\alpha$-approximate) if the utility is Lipschitz continuous in the prior. We further show that robustness may not be achieved if the utility is non-Lipschitz. This suggests we should use a Lipschitz utility for AL if robustness is required. For the minimum cost setting, we can also obtain a robustness result for approximate AL algorithms. Our results imply that many commonly used AL algorithms are robust against perturbed priors. We then propose the use of a mixture prior to alleviate the problem of prior misspecification. We analyze the robustness of the uniform mixture prior and show experimentally that it performs reasonably well in practice.Comment: This paper is published at AAAI Conference on Artificial Intelligence (AAAI 2016

Adaptive Semi-supervised Learning for Cross-domain Sentiment Classification

We consider the cross-domain sentiment classification problem, where a sentiment classifier is to be learned from a source domain and to be generalized to a target domain. Our approach explicitly minimizes the distance between the source and the target instances in an embedded feature space. With the difference between source and target minimized, we then exploit additional information from the target domain by consolidating the idea of semi-supervised learning, for which, we jointly employ two regularizations -- entropy minimization and self-ensemble bootstrapping -- to incorporate the unlabeled target data for classifier refinement. Our experimental results demonstrate that the proposed approach can better leverage unlabeled data from the target domain and achieve substantial improvements over baseline methods in various experimental settings.Comment: Accepted to EMNLP201

A Web-based Question Answering System

The Web is apparently an ideal source of answers to a large variety of questions, due to the tremendous amount of information available online. This paper describes a Web-based question answering system LAMP, which is publicly accessible. A particular characteristic of this system is that it only takes advantage of the snippets in the search results returned by a search engine like Google. We think such “snippet-tolerant” property is important for an online question answering system to be practical, because it is time-consuming to download and analyze the original web documents. The performance of LAMP is comparable to the best state-of-the-art question answering systems.Singapore-MIT Alliance (SMA

Monte Carlo Bayesian Reinforcement Learning

Bayesian reinforcement learning (BRL) encodes prior knowledge of the world in a model and represents uncertainty in model parameters by maintaining a probability distribution over them. This paper presents Monte Carlo BRL (MC-BRL), a simple and general approach to BRL. MC-BRL samples a priori a finite set of hypotheses for the model parameter values and forms a discrete partially observable Markov decision process (POMDP) whose state space is a cross product of the state space for the reinforcement learning task and the sampled model parameter space. The POMDP does not require conjugate distributions for belief representation, as earlier works do, and can be solved relatively easily with point-based approximation algorithms. MC-BRL naturally handles both fully and partially observable worlds. Theoretical and experimental results show that the discrete POMDP approximates the underlying BRL task well with guaranteed performance.Comment: Appears in Proceedings of the 29th International Conference on Machine Learning (ICML 2012