Learning from demonstrations (LfD) enables humans to easily teach collaborative robots (cobots) new motions that can be generalized to new task configurations without retraining. However, state-of-the-art LfD methods require manually tuning intrinsic parameters and have rarely been used in industrial contexts without experts. We propose a parameter-free LfD method based on probabilistic movement primitives, where parameters are determined using Jensen-Shannon divergence and Bayesian optimization, and users do not have to perform manual parameter tuning. The cobot's precision in reproducing learned motions, and its ease of teaching and use by non-expert users are evaluated in two field tests. In the first field test, the cobot works on elevator door maintenance. In the second test, three factory workers teach the cobot tasks useful for their daily workflow. Errors between the cobot and target joint angles are insignificant -- at worst $0.28$ deg -- and the motion is accurately reproduced -- GMCC score of 1. Questionnaires completed by the workers highlighted the method's ease of use and the accuracy of the reproduced motion. Our code and recorded trajectories are made available online.
相關內容
軟件工程評估（Evaluation and Assessment in Software Engineering，EASE）會議是一個國際領先的會議場所，學術界和實踐者可以在此展示和討論他們對基于證據的軟件工程的研究及其對軟件實踐的影響。第23屆EASE將于2019年4月在丹麥哥本哈根舉行，由哥本哈根IT大學主辦。EASE 2019歡迎向不同領域提交高質量的研究報告：完整的研究論文、短篇論文和手工藝品、新興成果和愿景、行業軌跡、博士研討會、海報。官網鏈接： ·
Learning
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MoDELS
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DNN
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Neural Networks
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Deep neural networks (DNN) are singular statistical models which exhibit complex degeneracies. In this work, we illustrate how a quantity known as the \emph{learning coefficient} introduced in singular learning theory quantifies precisely the degree of degeneracy in deep neural networks. Importantly, we will demonstrate that degeneracy in DNN cannot be accounted for by simply counting the number of "flat" directions. We propose a computationally scalable approximation of a localized version of the learning coefficient using stochastic gradient Langevin dynamics. To validate our approach, we demonstrate its accuracy in low-dimensional models with known theoretical values. Importantly, the local learning coefficient can correctly recover the ordering of degeneracy between various parameter regions of interest. An experiment on MNIST shows the local learning coefficient can reveal the inductive bias of stochastic opitmizers for more or less degenerate critical points.
The hearing loss of almost half a billion people is commonly treated with hearing aids. However, current hearing aids often do not work well in real-world noisy environments. We present a deep learning based denoising system that runs in real time on iPhone 7 and Samsung Galaxy S10 (25ms algorithmic latency). The denoised audio is streamed to the hearing aid, resulting in a total delay of around 75ms. In tests with hearing aid users having moderate to severe hearing loss, our denoising system improves audio across three tests: 1) listening for subjective audio ratings, 2) listening for objective speech intelligibility, and 3) live conversations in a noisy environment for subjective ratings. Subjective ratings increase by more than 40%, for both the listening test and the live conversation compared to a fitted hearing aid as a baseline. Speech reception thresholds, measuring speech understanding in noise, improve by 1.6 dB SRT. Ours is the first denoising system that is implemented on a mobile device, streamed directly to users' hearing aids using only a single channel as audio input while improving user satisfaction on all tested aspects, including speech intelligibility. This includes overall preference of the denoised and streamed signal over the hearing aid, thereby accepting the higher latency for the significant improvement in speech understanding.
We consider the identification of spatially distributed parameters under $H^1$ regularization. Solving the associated minimization problem by Gauss-Newton iteration results in linearized problems to be solved in each step that can be cast as boundary value problems involving a low-rank modification of the Laplacian. Using algebraic multigrid as a fast Laplace solver, the Sherman-Morrison-Woodbury formula can be employed to construct a preconditioner for these linear problems which exhibits excellent scaling w.r.t. the relevant problem parameters. We first develop this approach in the functional setting, thus obtaining a consistent methodology for selecting boundary conditions that arise from the $H^1$ regularization. We then construct a method for solving the discrete linear systems based on combining any fast Poisson solver with the Woodbury formula. The efficacy of this method is then demonstrated with scaling experiments. These are carried out for a common nonlinear parameter identification problem arising in electrical resistivity tomography.
We combine Kronecker products, and quantitative information flow, to give a novel formal analysis for the fine-grained verification of utility in complex privacy pipelines. The combination explains a surprising anomaly in the behaviour of utility of privacy-preserving pipelines -- that sometimes a reduction in privacy results also in a decrease in utility. We use the standard measure of utility for Bayesian analysis, introduced by Ghosh at al., to produce tractable and rigorous proofs of the fine-grained statistical behaviour leading to the anomaly. More generally, we offer the prospect of formal-analysis tools for utility that complement extant formal analyses of privacy. We demonstrate our results on a number of common privacy-preserving designs.
A pervasive challenge in neuroscience is testing whether neuronal connectivity changes over time due to specific causes, such as stimuli, events, or clinical interventions. Recent hardware innovations and falling data storage costs enable longer, more naturalistic neuronal recordings. The implicit opportunity for understanding the self-organised brain calls for new analysis methods that link temporal scales: from the order of milliseconds over which neuronal dynamics evolve, to the order of minutes, days or even years over which experimental observations unfold. This review article demonstrates how hierarchical generative models and Bayesian inference help to characterise neuronal activity across different time scales. Crucially, these methods go beyond describing statistical associations among observations and enable inference about underlying mechanisms. We offer an overview of fundamental concepts in state-space modeling and suggest a taxonomy for these methods. Additionally, we introduce key mathematical principles that underscore a separation of temporal scales, such as the slaving principle, and review Bayesian methods that are being used to test hypotheses about the brain with multi-scale data. We hope that this review will serve as a useful primer for experimental and computational neuroscientists on the state of the art and current directions of travel in the complex systems modelling literature.
Quantization summarizes continuous distributions by calculating a discrete approximation. Among the widely adopted methods for data quantization is Lloyd's algorithm, which partitions the space into Vorono\"i cells, that can be seen as clusters, and constructs a discrete distribution based on their centroids and probabilistic masses. Lloyd's algorithm estimates the optimal centroids in a minimal expected distance sense, but this approach poses significant challenges in scenarios where data evaluation is costly, and relates to rare events. Then, the single cluster associated to no event takes the majority of the probability mass. In this context, a metamodel is required and adapted sampling methods are necessary to increase the precision of the computations on the rare clusters.
In light of the increasing adoption of edge computing in areas such as intelligent furniture, robotics, and smart homes, this paper introduces HyperSNN, an innovative method for control tasks that uses spiking neural networks (SNNs) in combination with hyperdimensional computing. HyperSNN substitutes expensive 32-bit floating point multiplications with 8-bit integer additions, resulting in reduced energy consumption while enhancing robustness and potentially improving accuracy. Our model was tested on AI Gym benchmarks, including Cartpole, Acrobot, MountainCar, and Lunar Lander. HyperSNN achieves control accuracies that are on par with conventional machine learning methods but with only 1.36% to 9.96% of the energy expenditure. Furthermore, our experiments showed increased robustness when using HyperSNN. We believe that HyperSNN is especially suitable for interactive, mobile, and wearable devices, promoting energy-efficient and robust system design. Furthermore, it paves the way for the practical implementation of complex algorithms like model predictive control (MPC) in real-world industrial scenarios.
A population-averaged additive subdistribution hazards model is proposed to assess the marginal effects of covariates on the cumulative incidence function and to analyze correlated failure time data subject to competing risks. This approach extends the population-averaged additive hazards model by accommodating potentially dependent censoring due to competing events other than the event of interest. Assuming an independent working correlation structure, an estimating equations approach is outlined to estimate the regression coefficients and a new sandwich variance estimator is proposed. The proposed sandwich variance estimator accounts for both the correlations between failure times and between the censoring times, and is robust to misspecification of the unknown dependency structure within each cluster. We further develop goodness-of-fit tests to assess the adequacy of the additive structure of the subdistribution hazards for the overall model and each covariate. Simulation studies are conducted to investigate the performance of the proposed methods in finite samples. We illustrate our methods using data from the STrategies to Reduce Injuries and Develop confidence in Elders (STRIDE) trial.
Graph representation learning for hypergraphs can be used to extract patterns among higher-order interactions that are critically important in many real world problems. Current approaches designed for hypergraphs, however, are unable to handle different types of hypergraphs and are typically not generic for various learning tasks. Indeed, models that can predict variable-sized heterogeneous hyperedges have not been available. Here we develop a new self-attention based graph neural network called Hyper-SAGNN applicable to homogeneous and heterogeneous hypergraphs with variable hyperedge sizes. We perform extensive evaluations on multiple datasets, including four benchmark network datasets and two single-cell Hi-C datasets in genomics. We demonstrate that Hyper-SAGNN significantly outperforms the state-of-the-art methods on traditional tasks while also achieving great performance on a new task called outsider identification. Hyper-SAGNN will be useful for graph representation learning to uncover complex higher-order interactions in different applications.
Recent advances in 3D fully convolutional networks (FCN) have made it feasible to produce dense voxel-wise predictions of volumetric images. In this work, we show that a multi-class 3D FCN trained on manually labeled CT scans of several anatomical structures (ranging from the large organs to thin vessels) can achieve competitive segmentation results, while avoiding the need for handcrafting features or training class-specific models. To this end, we propose a two-stage, coarse-to-fine approach that will first use a 3D FCN to roughly define a candidate region, which will then be used as input to a second 3D FCN. This reduces the number of voxels the second FCN has to classify to ~10% and allows it to focus on more detailed segmentation of the organs and vessels. We utilize training and validation sets consisting of 331 clinical CT images and test our models on a completely unseen data collection acquired at a different hospital that includes 150 CT scans, targeting three anatomical organs (liver, spleen, and pancreas). In challenging organs such as the pancreas, our cascaded approach improves the mean Dice score from 68.5 to 82.2%, achieving the highest reported average score on this dataset. We compare with a 2D FCN method on a separate dataset of 240 CT scans with 18 classes and achieve a significantly higher performance in small organs and vessels. Furthermore, we explore fine-tuning our models to different datasets. Our experiments illustrate the promise and robustness of current 3D FCN based semantic segmentation of medical images, achieving state-of-the-art results. Our code and trained models are available for download: //github.com/holgerroth/3Dunet_abdomen_cascade.
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