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Nonlinear Value Function Approximation Method with Easy Hyperparameter Tuning and Convergence Guarantee

IEEE Access 2025年 13卷 30117-30126页

作者： Watabe, Yuuya shibuya, Takeshi University of Tsukuba Master's Program in Intelligent and Mechanical Interaction Systems Ibaraki305-8577 Japan University of Tsukuba Institute of Systems and Information Engineering Ibaraki305-8577 Japan

Reinforcement Learning is a branch of machine learning to learn control strategies that achieve a given objective through trial-And-error in the environment. Because this can be applicable even when the state transition function of the control object is unknown or it is difficult to create its model properly, this can reduce the designer's burden. Reinforcement learning repeats evaluating a policy and improving it based on that evaluation. An algorithm called value function approximation is used in this evaluation. Value function approximation is a general term for algorithms of approximating a function called value function, which maps an arbitrary state to how much reward can be obtained in the future when acting according to a policy from that state. Value function approximation should have high approximation accuracy and hyperparameter easy to tune. Although various value function approximation methods have been proposed so far, some of them does not have convergent guarantee and the others' hyperparameter tuning is difficult. The purpose of this paper is to propose a value function approximation method that have convergence guarantee even with nonlinear function approximator and whose hyperparameter tuning is easy and to verify its performance through numerical experiments. To this end, we focused on GTD2 method, which is one of the value function approximation methods that has convergence guarantee even with a nonlinear function approximator. GTD2 method has the drawback that its hyperparameter is difficult to tune appropriately so that the approximation does not diverge during learning. Therefore, we firstly clarified the cause of the divergence of GTD2 method. secondly, based on this cause, we proposed Normalized and Regularized GTD2 (NRGTD2) method, that incorporates a method for suppressing divergence into GTD2 method. Finally, through numerical experiments, it was clarified that the proposed method suppresses the divergence and can achieve better approxim

关键词： Reinforcement learning

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Robot Tele-Operation / Teaching system using VR Device 10

Robot Tele-Operation / Teaching System using VR Device

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10th IEEE International Conference on Cybernetics and Intelligent systems and IEEE Conference on Robotics, Automation and Mechatronics, CIs-RAM 2023

作者： Ohsato, Minami Aiyama, Yasumichi Master's Program in Systems and Information Engineering Tsukuba Japan University of Tsukuba Inst. of Systemsand Information Engineering Tsukuba Japan

ISBN: (纸本)9798350303087

This paper proposes a "robot tele-teaching system using a VR device"as a new robot teaching method to replace the conventional robot teaching method. Currently we still need teach-pendant to teach industrial robots. It is very inconvenient method. Our novel method consists of two robots and a VR device. One robot is on site instead of the operator. A stereo camera is attached to its end of the robot, which realizes a 3D positionand posture obtained from HMD. The operator can then view the images through the HMD as if he/she are on site. The other manipulating robot is equipped with a gripper and can follow the position and orientation of the gripper-like input device held by the operator. This system is equipped with a correction and auto-teaching function that uses the geometric characteristics of the work object. This significantly reduces the time required for operation. In addition, the teaching points obtained by this system have been successfully used for playback in a real environment. © 2023 IEEE.

关键词： Manipulators

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Toward Parallelization Technique for stream-based Lossless Data Compression

Toward Parallelization Technique for Stream-based Lossless D...

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2023 IEEE International Conference on Big Data, BigData 2023

作者： Kato, Taiki Yamagiwa, shinichi Wada, Koichi Master's Program in Computer Science Degree Program in Systems and Information Engineering University of Tsukuba Ibalaki Tsukuba Japan University of Tsukuba Faculty of Engineering Information and Systems Ibalaki Tsukuba Japan

ISBN: (纸本)9798350324457

IoT edge platform has become popular in various distributed environments. The edge devices need to communicate BigData among them or with the cloud servers by collaborating with AI technologies for finding events from the applications. Those devices exchange data streams from such as distributed sensors and remote image/video devices. We focus on an acceleration technique for the communication performance using a stream-based lossless data compression technology. This paper proposes a parallelization technique for the compression process in a software environment running on a multicore processor. The technique invokes concurrent compression processes assigned to multiple threads with splitting a data stream to chunks. The paper exposes three scheduling methods for assigning the chunks to the threads: in-order, hybrid and out-of-order. As an original data order of chunks must be obtained in decompression side, the proposed technique introduces packeting mechanisms in each chunk by adding headers to support the scheduling methods. Through experimental performance evaluations, we discuss the packeting overhead focusing on compression ratio and speedup by the parallelization with three scheduling methods. © 2023 IEEE.

关键词： Data stream IoT Lossless Data Compression Multi-Threading Parallelization

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Performance Enhancement of stream-Based Decompression Process by Notifying Compression Buffer size 28

Performance Enhancement of Stream-Based Decompression Proces...

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28th IEEE symposium on Computers and Communications, IsCC 2023

作者： Kato, Taiki Yamagiwa, shinichi Marumo, Koichi University of Tsukuba Master's Program in Computer Science Degree Program in Systems and Information Engineering Ibalaki Tsukuba Japan University of Tsukuba Faculty of Engineering Information and Systems Ibalaki Tsukuba Japan

ISBN: (纸本)9798350300482

This paper focuses on a performance enhancement of communication performance by compressing data stream. AsE coding is an effective lossless data compression method for data stream. The software implementation of the coding/decoding method inevitably meets a performance mismatch in memory and storage devices. In the compressor side, it is predictable to decide the size of an original data block and is available to process a flexible buffer memory. However, the decompressor is not able to predict the buffer size because the original data size is not obvious before the decompression. This causes a performance mismatch in the filesystem level. This paper proposes a novel method to address the performance mismatch by applying a notification mechanism of compression size from the compressor. This paper describes the mechanism focusing on the system call usage. Through experimental evaluations, we show the performance improvement of the decompression performance for handling data stream. © 2023 IEEE.

关键词： Virtual storage

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A Note on Even-sized spectral Clustering 13

A Note on Even-Sized Spectral Clustering

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Joint 13th International Conference on soft Computing and Intelligent systems and 25th International symposium on Advanced Intelligent systems, sCIs and IsIs 2024

作者： Miyakawa, Hiroki Endo, Yasunori Graduate School of Science and Technology Degree Programs in Systems and Information Engineering Master's Program in Risk and Resilience Engineering University of Tsukuba Ibaraki Tsukuba Japan Institute of Systems and Information Engineering University of Tsukuba Ibaraki Tsukuba Japan

ISBN: (纸本)9798350373332

Clustering is a typical unsupervised learning method for classifying unsupervised data. One of the clustering meth-ods, even-sized clustering based on optimization (ECBO), is a clustering algorithm that imposes a constraint to equalize the size of each cluster. ECBO has been suggested to be effective in delivery and other problems. However, it is limited to Euclidean space. On the other hand, spectral clustering with a wide range of applicability for partitioning graph data has been proposed. In this paper, we propose even-sized spectral clustering, which imposes a size-equal constraint on spectral clustering, and show that it is an extension of the graph partitioning problem. We also verify the validity of the results through numerical examples. © 2024 IEEE.

关键词： Unsupervised learning

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A Dialogue support system for Visualizing Latent and Dynamic Perspectives as Conceptual structures for Comparative shopping 24

A Dialogue Support System for Visualizing Latent and Dynamic...

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8th International Conference on Natural Language Processing and information Retrieval, NLPIR 2024

作者： Aikawa, Kazuki Nobuhara, Hajime Master's and Doctoral Programs in Intelligent and Mechanical Interaction Systems University of Tsukuba Tsukuba Japan Institute of Systems and Information Engineering University of Tsukuba Tsukuba Japan

ISBN: (纸本)9798400717383

This study focuses on comparative shopping behavior in online shopping, investigating the impact of visualizing and understanding users' dynamically changing perspectives (perspective variation) on the purchasing process. Traditional recommendation systems primarily emphasize long-term preference estimation based on collaborative filtering, but they face challenges in accounting for users' momentary shifts in interest and perspective. In previous research, we defined users' fluctuating latent perspectives on specific attributes or features as "momentary perspectives"and developed a system to visualize these as conceptual structures. Using this system, we conducted a face-to-face shopping simulation experiment with 16 participants divided into 8 pairs in an experimental environment built with Javascript and Python. This experiment aimed to examine the effect of perspective visualization on communication between users. The results indicated that perspective visualization improved the balance of speaking time, yielding statistically significant results (p = 0.047). This research presents a novel approach to enhancing user experience in online shopping by leveraging short-term perspective variation. © 2024 Copyright held by the owner/author(s).

关键词： signaling

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A Player Position Tracking Method Based on a Wide-Area Pan-Tilt-Zoom Video 12

A Player Position Tracking Method Based on a Wide-Area Pan-T...

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Proceedings of the 12th International Conference on sport sciences Research and Technology support, icsPORTs 2024

作者： Yamagishi, shunzo Xie, Chun shishido, Hidehiko Kitahara, Itaru Master's and Doctoral Program in Intelligent Mechanical Interaction Systems University of Tsukuba Ibaraki Japan Center for Computational Sciences University of Tsukuba Ibaraki Japan Faculty of Science and Engineering Department of Information Systems Engineering Soka University Tokyo Japan

ISBN: (纸本)9789897587191

This paper proposes a method to estimate the posture of an athlete moving on a vast field in a sporting event using a pan-tilt-zoom camera. In order to estimate the posture of an athlete on a sports field from a dynamic video sequence, our method extracts image features to search correspondence points among successive frames and computes the homography transformation matrix that compensates for changes the camera parameters (e.g., angle of view and posture). The effectiveness of this method is qualitatively verified using MLB TV broadcast video. The accuracy and error factors are also quantitatively verified by CG simulation. Copyright © 2024 by sCITEPREss - science and Technology Publications, Lda.

关键词： Pan-Tilt-Zoom Camera Player Tracking sports Analytics Video Processing Wide-Area

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Finding the Important Elements Linked to Integration Problems in the Use of Enterprise Resource Planning systems 9

Finding the Important Elements Linked to Integration Problem...

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9th International Conference on information Management and Technology, ICIMTech 2024

作者： sardjono, Wahyu Kristin, Desi Maya Pranata, Dewi sagita Bina Nusantara University BINUS Graduate Program Master of Information Systems Management Information Systems Management Department Jakarta11480 Indonesia School of Information Systems Bina Nusantara University Information Systems Department Jakarta11480 Indonesia King's College London Cyber Security Studi Program Faculty of Natural Mathematical & Engineering Sciences Department of Informatics WC2R 2LS United Kingdom

ISBN: (纸本)9798350390025

Organizations face an urgent need to become faster, more efficient, and more successful in their commercial operations, given the current state of technological evolution and the arrival of Industry 4.0. Many businesses have adopted the idea of enterprise resource planning (ERP) systems to achieve this goal. The ERP system is expected to increase worker productivity, improve business performance to maximize profitability and profits, and provide accurate and up-to-date data and information to management and stakeholders. This research aims to find new variables related to integration problems in the use of ERP systems. Using the sPss statistical program, the data collected will be examined using quantitative exploratory factor analysis (EFA). Data processing then includes collecting demographic information from respondents, reliability testing, conducting the Kaiser-Meyer-Olkin (KMO) test, testing using an anti-image matrix, and deriving new factors using a rotation component matrix. This research seeks to identify new elements underlying ongoing integration problems in ERP system implementation. The research results show several reasons for underlying integration problems and offer in-depth information to management that can be used to analyze and evaluate the ERP system in their company appropriately in the future so that the company's performance becomes superior to the competition. © 2024 IEEE.

关键词： Profitability

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On a New Rough Clustering Based on Optimization 13

On a New Rough Clustering Based on Optimization

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Joint 13th International Conference on soft Computing and Intelligent systems and 25th International symposium on Advanced Intelligent systems, sCIs and IsIs 2024

作者： Furuta, sakuya Endo, Yasunori Master's Program in Risk and Resilience Engineering Degree Programs in Systems and Information Engineering Graduate School of Science Annd Technology University of Tsukuba 1-1-1 Tennodai Tsukuba Ibaraki305-8573 Japan Institute of Systems and Information Engineering University of Tsukuba 1-1-1 Tennodai Tsukuba Ibaraki305-8573 Japan

ISBN: (纸本)9798350373332

The purpose of this study is to develop and investigate a new rough clustering based on optimization. We propose a restructured algorithm using only one variable, instead of the algorithm described using two variables in existing methods. We also perform numerical examples using artificial data and the Iris and Wine datasets. This research has the potential to be used as a method for determining false negatives and false positives in cancer diagnosis. © 2024 IEEE.

关键词： Clustering algorithms

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style Transfer of Musical Performance Expression Using Note Classification Based on the Implication-Realization Model 23

Style Transfer of Musical Performance Expression Using Note ...

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7th International Conference on Computer science and Application engineering, CsAE 2023

作者： Mizutani, Tetsuya sasaki, shigefumi Department of Information Engineering University of Tsukuba Tsukuba Japan Master's Program in Computer Science University of Tsukuba Tsukuba Japan

ISBN: (纸本)9798400700590

In recent years, the style transfer is being studied in the field of AI. It extracts a style from one data set and applies to another data set. This technique is actively studied mainly in computer vision. It is also being studied in music and speech processing with many deep learning methods. However, no research focused on changes in performance expression of music. Performance expression of music refers to the player's artistic interpretation of a piece of music, the changes in performance, and the techniques used to achieve these changes. Changes in performance are represented by slow and fast beats, changes in strength and weakness. In this study, as a part of the study of analysis and creation of performance expression models of music, the image style transfer method is applied to musical expression. In addition, in order to analyze the relationship between musical structure and musical expression, the implication-realization model of music theory is used to extract the structure of music to improve the performance of style transfer. The analysis result shows that the I-R model captures the feature of musical expression well, and moreover, the style transfer method is shown to be useful for analyzing performance expression of music. It will lead to the study of music performance expression style extraction and will contribute to the analysis and creation of performance expression models of music. © 2023 ACM.

关键词： Music

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