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Bayesian inference for data-efficient, explainable, and safe robotic motion planning: A review

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arXiv 2023年

作者： Zhou, Chengmin Wang, Chao Hassan, Haseeb Shah, Himat Huang, Bingding Fränti, Pasi Machine Learning Group School of Computing University of Eastern Finland JoensuuFI-80100 Finland College of Big Data and Internet Shenzhen Technology University Shenzhen518118 China Machine Learning Group School of Computing University of Eastern Finland JoensuuFI-80100 Finland College of Big Data and Internet Shenzhen Technology University Shenzhen518118 China College of Blockchain industry Chengdu University of Information Technology Chengdu610225 China College of Health Science and Environmental Engineering Shenzhen Technology University Shenzhen518118 China

Bayesian inference has many advantages in robotic motion planning over four perspectives: The uncertainty quantification of the policy, safety (risk-aware) and optimum guarantees of robot’s motions, data-efficiency in reinforcement learning (RL) training, and reducing the sim2real gap when the robot is applied to real-world tasks. However, the application of Bayesian inference in robotic motion planning is lagging behind the comprehensive theory of Bayesian inference. Further, there are no comprehensive reviews to summarize the progress of Bayesian inference to give researchers a systematic understanding in robotic motion planning. This paper first provides the probabilistic theories of Bayesian inference which are the preliminary of Bayesian inference for complex cases. Second, the Bayesian estimation is given to estimate the posterior of policies or unknown functions which are used to compute the policy. Third, the classical model-based Bayesian RL and model-free Bayesian RL algorithms for robotic motion planning are summarized, while these algorithms in complex cases are also analyzed. Fourth, the analysis of Bayesian inference in inverse RL is given to infer the reward functions in a data-efficient manner. Fifth, we systematically present the hybridization of Bayesian inference and RL which is a promising direction to improve the convergence of RL for better motion planning. Sixth, given the Bayesian inference, we present the interpretable and safe robotic motion plannings which are the hot research topic recently. Finally, all algorithms reviewed in this paper are summarized analytically as the knowledge graphs, and the future of Bayesian inference for robotic motion planning is also discussed, to pave the way for data-efficient, explainable, and safe robotic motion planning strategies for practical applications. © 2023, CC BY-NC-ND.

关键词： Reinforcement learning

Hybrid of representation learning and reinforcement learning for dynamic and complex robotic motion planning

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arXiv 2023年

作者： Zhou, Chengmin Lu, Xin Dai, Jiapeng Huang, Bingding Liu, Xiaoxu Fränti, Pasi Machine Learning Group School of Computing University of Eastern Finland Joensuu Finland College of Big Data and Internet Shenzhen Technology University Shenzhen China University of Eastern Finland Shenzhen Technology University simultaneously Finland Shenzhen Technology University simultaneously China Sino-German College of Intelligent Manufacturing Shenzhen Technology University Shenzhen China

Motion planning is the soul of robot decision making. Classical planning algorithms like graph search and reaction-based algorithms face challenges in cases of dense and dynamic obstacles. Deep learning algorithms generate suboptimal one-step predictions that cause many collisions. Reinforcement learning algorithms generate optimal or near-optimal time-sequential predictions. However, they suffer from slow convergence, suboptimal converged results, and overfittings. This paper introduces a hybrid algorithm for robotic motion planning: long short-term memory (LSTM) pooling and skip connection for attention-based discrete soft actor critic (LSA-DSAC). First, graph network (relational graph) and attention network (attention weight) interpret the environmental state for the learning of the discrete soft actor critic algorithm. The expressive power of attention network outperforms that of graph in our task by difference analysis of these two representation methods. However, attention based DSAC faces the overfitting problem in training. Second, the skip connection method is integrated to attention based DSAC to mitigate overfitting and improve convergence speed. Third, LSTM pooling is taken to replace the sum operator of attention weigh and eliminate overfitting by slightly sacrificing convergence speed at early-stage training. Experiments show that LSA-DSAC outperforms the state-of-the-art in training and most evaluations. The physical robot is also implemented and tested in the real world. © 2023, CC BY-NC-SA.

关键词： Long short-term memory

Asymptotically unbiased estimation of physical observables with neural samplers

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Physical Review E 2020年第2期101卷 023304-023304页

作者： Kim A. Nicoli Shinichi Nakajima Nils Strodthoff Wojciech Samek Klaus-Robert Müller Pan Kessel Machine Learning Group Technische Universität Berlin 10587 Berlin Germany and Berlin Big Data Center 10587 Berlin Germany

We propose a general framework for the estimation of observables with generative neural samplers focusing on modern deep generative neural networks that provide an exact sampling probability. In this framework, we present asymptotically unbiased estimators for generic observables, including those that explicitly depend on the partition function such as free energy or entropy, and derive corresponding variance estimators. We demonstrate their practical applicability by numerical experiments for the two-dimensional Ising model which highlight the superiority over existing methods. Our approach greatly enhances the applicability of generative neural samplers to real-world physical systems.

关键词： Monte Carlo methods

Computationally Efficient Approximations for Matrix-based Rényi's Entropy

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arXiv 2021年

作者： Gong, Tieliang Dong, Yuxin Yu, Shujian Dong, Bo The School of Computer Science and Technology Xi'an Jiaotong University Shaanxi Provincial Key Laboratory of Big Data Knowledge Engineering Xi’an710049 China The Machine Learning Group UiT - The Arctic University of Norway Department of Computer Science Vrije University Amsterdam Amsterdam Netherlands

The recently developed matrix-based Rényi's αorder entropy enables measurement of information in data simply using the eigenspectrum of symmetric positive semi-definite (PSD) matrices in reproducing kernel Hilbert space, without estimation of the underlying data distribution. This intriguing property makes this new information measurement widely adopted in multiple statistical inference and learning tasks. However, the computation of such quantity involves the trace operator on a PSD matrix G to power α (i.e., tr(Gα)), with a normal complexity of nearly O(n3), which severely hampers its practical usage when the number of samples (i.e., n) is large. In this work, we present computationally efficient approximations to this new entropy functional that can reduce its complexity to even significantly less than O(n2). To this end, we leverage the recent progress on Randomized Numerical Linear Algebra, developing Taylor, Chebyshev and Lanczos approximations to tr(Gα) for arbitrary values of α by converting it into a matrix-vector multiplication problem. We also establish the connection between the matrix-based Rényi's entropy and PSD matrix approximation, which enables exploiting both clustering and block low-rank structure of G to further reduce the computational cost. We theoretically provide approximation accuracy guarantees and illustrate the properties for different approximations. Large-scale experimental evaluations on both synthetic and real-world data corroborate our theoretical findings, showing promising speedup with negligible loss in accuracy. Copyright © 2021, The Authors. All rights reserved.

关键词： Matrix algebra

Robust and Fast Measure of Information via Low-rank Representation

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arXiv 2022年

作者： Dong, Yuxin Gong, Tieliang Yu, Shujian Chen, Hong Li, Chen School of Computer Science and Technology Xi’an Jiaotong University Xi’an710049 China Shaanxi Provincial Key Laboratory of Big Data Knowledge Engineering Ministry of Education Xi’an710049 China Machine Learning Group UiT - The Arctic University of Norway Norway College of Science Huazhong Agriculture University Wuhan430070 China Engineering Research Center of Intelligent Technology for Agriculture Ministry of Education Wuhan430070 China

The matrix-based Rényi’s entropy allows us to directly quantify information measures from given data, without explicit estimation of the underlying probability distribution. This intriguing property makes it widely applied in statistical inference and machine learning tasks. However, this information theoretical quantity is not robust against noise in the data, and is computationally prohibitive in large-scale applications. To address these issues, we propose a novel measure of information, termed low-rank matrix-based Rényi’s entropy, based on low-rank representations of infinitely divisible kernel matrices. The proposed entropy functional inherits the specialty of of the original definition to directly quantify information from data, but enjoys additional advantages including robustness and effective calculation. Specifically, our low-rank variant is more sensitive to informative perturbations induced by changes in underlying distributions, while being insensitive to uninformative ones caused by noises. Moreover, low-rank Rényi’s entropy can be efficiently approximated by random projection and Lanczos iteration techniques, reducing the overall complexity from O(n3) to O(n2s) or even O(ns2), where n is the number of data samples and s n. We conduct large-scale experiments to evaluate the effectiveness of this new information measure, demonstrating superior results compared to matrix-based Rényi’s entropy in terms of both performance and computational efficiency. Copyright © 2022, The Authors. All rights reserved.

关键词： Entropy

Overview of the Tenth Dialog System Technology Challenge: DSTC10

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IEEE/ACM Transactions on Audio Speech and Language Processing 2024年 32卷 765-778页

作者： Yoshino, Koichiro Chen, Yun-Nung Crook, Paul Kottur, Satwik Li, Jinchao Hedayatnia, Behnam Moon, Seungwhan Fei, Zhengcong Li, Zekang Zhang, Jinchao Feng, Yang Zhou, Jie Kim, Seokhwan Liu, Yang Jin, Di Papangelis, Alexandros Gopalakrishnan, Karthik Hakkani-Tur, Dilek Damavandi, Babak Geramifard, Alborz Hori, Chiori Shah, Ankit Zhang, Chen Li, Haizhou Sedoc, Joao D'haro, Luis F. Banchs, Rafael Rudnicky, Alexander Guardian Robot Project R-IH RIKEN 2-2-2 Hikaridai Seika Shoraku619-0288 Japan Information Science Nara Institute of Science and Technology Ikoma630-0101 Japan Computer Science and Information Engineering National Taiwan University Taipei10617 Taiwan Inc. Palo AltoCA95054 United States Alexa AI *** Inc. SunnyvaleCA94089 United States Meta Seattle RedmondWA98052 United States Institute of Computing Technology Chinese Academy of Sciences Beijing100190 China Key Laboratory of Intelligent Information Processing Institute of Computing Technology Chinese Academy of Sciences Beijing100190 China Tencent AI Lab Beijing Beijing China Kexueyuan South Road Zhongguancun Beijing100190 China Beijing 100190 China Alexa AI *** Inc. SunnyvaleCA United States 1120 Enterprise way Sunnyvale94089 United States *** Inc. SeattleWA United States Menlo Park CA United States Audio and Speech Group Mitsubishi Electric Research Laboratories CambridgeMA02139-1955 United States Carnegie Mellon University Department of Language and Information Technologies or just Carnegie Mellon University Pittsburgh United States National University of Singapore Singapore Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore Singapore Shenzhen Research Institute of Big Data School of Data Science Chinese University of Hong Kong Shenzhen518172 China New York University New YorkNY United States ETSI de Telecomunicacion - Speech Technology and Machine Learning Group Universidad Politecnica de Madrid Ciudad Universitaria Madrid28040 Spain Nanyang Technological University Singapore Singapore Carnegie Mellon University PittsburghPA United States

This article introduces the Tenth Dialog System Technology Challenge (DSTC-10). This edition of the DSTC focuses on applying end-to-end dialog technologies for five distinct tasks in dialog systems, namely 1. Incorporation of Meme images into open domain dialogs, 2. Knowledge-grounded Task-oriented Dialogue Modeling on Spoken Conversations, 3. Situated Interactive Multimodal dialogs, 4. Reasoning for Audio Visual Scene-Aware Dialog, and 5. Automatic Evaluation and Moderation of Open-domainDialogue Systems. This article describes the task definition, provided datasets, baselines, and evaluation setup for each track. We also summarize the results of the submitted systems to highlight the general trends of the state-of-the-art technologies for the tasks. © 2023 The Authors.

关键词： Job analysis

Comprehensive empirical evaluation of deep learning approaches for session-based recommendation in e-commerce

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arXiv 2020年

作者： Maher, Mohamed Ngoy, Perseverance Munga Rebriks, Aleksandrs Ozcinar, Cagri Cuevas, Josue Sanagavarapu, Rajasekhar Anbarjafari, Gholamreza University of Tartu Tartu Estonia iCV Lab University of Tartu Tartu Estonia Faculty of Engineering Hasan Kalyoncu University Gaziantep Turkey Rakuten Inc. Big Data Department Machine Learning Group Tokyo Japan

Boosting sales of e-commerce services is guaranteed once users find more matching items to their interests in a short time. Consequently, recommendation systems have become a crucial part of any successful e-commerce services. Although various recommendation techniques could be used in e-commerce, a considerable amount of attention has been drawn to session-based recommendation systems during the recent few years. This growing interest is due to the security concerns in collecting personalized user behavior data, especially after the recent general data protection regulations 1. In this work, we present a comprehensive evaluation of the state-of-the-art deep learning approaches used in the session-based recommendation. In session-based recommendation, a recommendation system counts on the sequence of events made by a user within the same session to predict and endorse other items that are more likely to correlate with his/her preferences. Our extensive experiments investigate baseline techniques (e.g., nearest neighbors and pattern mining algorithms) and deep learning approaches (e.g., recurrent neural networks, graph neural networks, and attention-based networks). Our evaluations show that advanced neural-based models and session-based nearest neighbor algorithms outperform the baseline techniques in most of the scenarios. However, we found that these models suffer more in case of long sessions when there exists drift in user interests, and when there is no enough data to model different items correctly during training. Our study suggests that using hybrid models of different approaches combined with baseline algorithms could lead to substantial results in session-based recommendations based on dataset characteristics. We also discuss the drawbacks of current session-based recommendation algorithms and further open research directions in this field. Copyright © 2020, The Authors. All rights reserved.

关键词： Recommender systems

Automatic identification of types of alterations in historical manuscripts

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arXiv 2020年

作者： Lassner, David Baillot, Anne Dogadov, Sergej Müller, Klaus-Robert Nakajima, Shinichi Machine Learning Group Technische Universität Berlin Berlin10587 Germany Le Mans Université Le Mans72085 France Berlin Big Data Center Berlin10587 Germany Department of Brain and Cognitive Engineering Korea University Anam-dong Seongbuk-gu Seoul136-713 Korea Republic of Max-Planck-Institut für Informatik Saarbrücken Germany Berliner Zentrum für Maschinelles Lernen Berlin10587 Germany RIKEN Center for AIP Tokyo103-0027 Japan

Alterations in historical manuscripts such as letters represent a promising field of research. On the one hand, they help understand the construction of text. On the other hand, topics that are being considered sensitive at the time of the manuscript gain coherence and contextuality when taking alterations into account, especially in the case of deletions. The analysis of alterations in manuscripts, though, is a traditionally very tedious work. In this paper, we present a machine learning-based approach to help categorize alterations in documents. In particular, we present a new probabilistic model (Alteration Latent Dirichlet Allocation, alterLDA in the following) that categorizes content-related alterations. The method proposed here is developed based on experiments carried out on the digital scholarly edition Berlin Intellectuals, for which alterLDA achieves high performance in the recognition of alterations on labelled data. On unlabelled data, applying alterLDA leads to interesting new insights into the alteration behavior of authors, editors and other manuscript contributors, as well as insights into sensitive topics in the correspondence of Berlin intellectuals around 1800. In addition to the findings based on the digital scholarly edition Berlin Intellectuals, we present a general framework for the analysis of text genesis that can be used in the context of other digital resources representing document variants. To that end, we present in detail the methodological steps that are to be followed in order to achieve such results, giving thereby a prime example of an machine learning application the Digital Humanities. Copyright © 2020, The Authors. All rights reserved.

关键词： Statistics

Feature extraction for hyperspectral imagery: The evolution from shallow to deep

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arXiv 2020年

作者： Rasti, Behnood Hong, Danfeng Hang, Renlong Ghamisi, Pedram Kang, Xudong Chanussot, Jocelyn Benediktsson, Jon Atli Machine Learning Group Exploration Division Helmholtz Institute Freiberg for Resource Technology Helmholtz-Zentrum Dresden-Rossendorf Freiberg09599 Germany Univ. Grenoble Alpes CNRS Grenoble INP GIPSAlab Grenoble38000 France Jiangsu Key Laboratory of Big Data Analysis Technology School of Automation Nanjing University of Information Science and Technology Nanjing210044 China Machine Learning Group Exploration Division Helmholtz Institute Freiberg for Resource Technology Helmholtz-Zentrum Dresden-Rossendorf Freiberg09599 Germany College of Electrical and Information Engineering Hunan University Changsha410082 China Key Laboratory of Visual Perception and Artificial Intelligence of Hunan Province Changsha410082 China Univ. Grenoble Alpes Inria CNRS Grenoble INP LJK GrenobleF-38000 France Faculty of Electrical and Computer Engineering University of Iceland Reykjavik101 Iceland Faculty of Electrical and Computer Engineering University of Iceland Reykjavik107 Iceland

The final version of the paper can be found in IEEE Geoscience and Remote Sensing Magazine. Hyperspectral images provide detailed spectral information through hundreds of (narrow) spectral channels (also known as dimensionality or bands) with continuous spectral information that can accurately classify diverse materials of interest. The increased dimensionality of such data makes it possible to significantly improve data information content but provides a challenge to the conventional techniques (the so-called curse of dimensionality) for accurate analysis of hyperspectral images. Feature extraction, as a vibrant field of research in the hyperspectral community, evolved through decades of research to address this issue and extract informative features suitable for data representation and classification. The advances in feature extraction have been inspired by two fields of research, including the popularization of image and signal processing as well as machine (deep) learning, leading to two types of feature extraction approaches named shallow and deep techniques. This article outlines the advances in feature extraction approaches for hyperspectral imagery by providing a technical overview of the state-of-the-art techniques, providing useful entry points for researchers at different levels, including students, researchers, and senior researchers, willing to explore novel investigations on this challenging topic. In more detail, this paper provides a bird's eye view over shallow (both supervised and unsupervised) and deep feature extraction approaches specifically dedicated to the topic of hyperspectral feature extraction and its application on hyperspectral image classification. Additionally, this paper compares 15 advanced techniques with an emphasis on their methodological foundations in terms of classification accuracies. Furthermore, to push this vibrant field of research forward an impressive amount of codes and libraries is shared at: https://***/Behnoo

关键词： Feature extraction