Domestic and service robots have the potential to transform industries such as health care and small-scale manufacturing, as well as the homes in which we live. However, due to the overwhelming variety of tasks these robots will be expected to complete, providing generic out-of-the-box solutions that meet the needs of every possible user is clearly intractable. To address this problem, robots must therefore not only be capable of learning how to complete novel tasks at run-time, but the solutions to these tasks must also be informed by the needs of the user. In this paper we demonstrate how behaviour trees, a well established control architecture in the fields of gaming and robotics, can be used in conjunction with natural language instruction to provide a robust and modular control architecture for instructing autonomous agents to learn and perform novel complex tasks. We also show how behaviour trees generated using our approach can be generalised to novel scenarios, and can be re-used in future learning episodes to create increasingly complex behaviours. We validate this work against an existing corpus of natural language instructions, demonstrate the application of our approach on both a simulated robot solving a toy problem, as well as two distinct real-world robot platforms which, respectively, complete a block sorting scenario, and a patrol scenario.
We present a novel control-theoretic understanding of online optimization and learning in games, via the notion of passivity. Passivity is a fundamental concept in control theory, which abstracts energy conservation and dissipation in physical systems. It has become a standard tool in analysis of general feedback systems, to which game dynamics belong. Our starting point is to show that all continuous-time Follow-the-Regularized-Leader (FTRL) dynamics, which includes the well-known Replicator Dynamic, are lossless, i.e. it is passive with no energy dissipation. Interestingly, we prove that passivity implies bounded regret, connecting two fundamental primitives of control theory and online optimization. The observation of energy conservation in FTRL inspires us to present a family of lossless learning dynamics, each of which has an underlying energy function with a simple gradient structure. This family is closed under convex combination; as an immediate corollary, any convex combination of FTRL dynamics is lossless and thus has bounded regret. This allows us to extend the framework of Fox and Shamma (Games, 2013) to prove not just global asymptotic stability results for game dynamics, but Poincar\'e recurrence results as well. Intuitively, when a lossless game (e.g. graphical constant-sum game) is coupled with lossless learning dynamic, their interconnection is also lossless, which results in a pendulum-like energy-preserving recurrent behavior, generalizing the results of Piliouras and Shamma (SODA, 2014) and Mertikopoulos, Papadimitriou and Piliouras (SODA, 2018).
Quite a few people in the world have to stay under permanent surveillance for health reasons; they include diabetic people or people with some other chronic conditions, the elderly and the disabled.These groups may face heightened risk of having life-threatening falls or of being struck by a syncope. Due to limited availability of resources a substantial part of people at risk can not receive necessary monitoring and thus are exposed to excessive danger. Nowadays, this problem is usually solved via applying Human Activity Recognition (HAR) methods. HAR is a perspective and fast-paced Data Science field, which has a wide range of application areas such as healthcare, sport, security etc. However, the currently techniques of recognition are markedly lacking in accuracy, hence, the present paper suggests a highly accurate method for human activity classification. Wepropose a new workflow to address the HAR problem and evaluate it on the UniMiB SHAR dataset, which consists of the accelerometer signals. The model we suggest is based on continuous wavelet transform (CWT) and convolutional neural networks (CNNs). Wavelet transform localizes signal features both in time and frequency domains and after that a CNN extracts these features and recognizes activity. It is also worth noting that CWT converts 1D accelerometer signal into 2D images and thus enables to obtain better results as 2D networks have a significantly higher predictive capacity. In the course of the work we build a convolutional neural network and vary such model parameters as number of spatial axes, number of layers, number of neurons in each layer, image size, type of mother wavelet, the order of zero moment of mother wavelet etc. Besides, we also apply models with residual blocks which resulted in significantly higher metric values. Finally, we succeed to reach 99.26 % accuracy and it is a worthy performance for this problem.
Contrastive learning has shown superior performance in embedding global and spatial invariant features in computer vision (e.g., image classification). However, its overall success of embedding local and spatial variant features is still limited, especially for semantic segmentation. In a per-pixel prediction task, more than one label can exist in a single image for segmentation (e.g., an image contains both cat, dog, and grass), thereby it is difficult to define 'positive' or 'negative' pairs in a canonical contrastive learning setting. In this paper, we propose an attention-guided supervised contrastive learning approach to highlight a single semantic object every time as the target. With our design, the same image can be embedded to different semantic clusters with semantic attention (i.e., coerce semantic masks) as an additional input channel. To achieve such attention, a novel two-stage training strategy is presented. We evaluate the proposed method on multi-organ medical image segmentation task, as our major task, with both in-house data and BTCV 2015 datasets. Comparing with the supervised and semi-supervised training state-of-the-art in the backbone of ResNet-50, our proposed pipeline yields substantial improvement of 5.53% and 6.09% in Dice score for both medical image segmentation cohorts respectively. The performance of the proposed method on natural images is assessed via PASCAL VOC 2012 dataset, and achieves 2.75% substantial improvement.
Time series interpretation aims to provide an explanation of what is observed in terms of its underlying processes. The present work is based on the assumption that the common classification-based approaches to time series interpretation suffer from a set of inherent weaknesses, whose ultimate cause lies in the monotonic nature of the deductive reasoning paradigm. In this document we propose a new approach to this problem, based on the initial hypothesis that abductive reasoning properly accounts for the human ability to identify and characterize the patterns appearing in a time series. The result of this interpretation is a set of conjectures in the form of observations, organized into an abstraction hierarchy and explaining what has been observed. A knowledge-based framework and a set of algorithms for the interpretation task are provided, implementing a hypothesize-and-test cycle guided by an attentional mechanism. As a representative application domain, interpretation of the electrocardiogram allows us to highlight the strengths of the proposed approach in comparison with traditional classification-based approaches.
Academic citation graphs represent citation relationships between publications across the full range of academic fields. Top cited papers typically reveal future trends in their corresponding domains which is of importance to both researchers and practitioners. Prior citation prediction methods often require initial citation trends to be established and do not take advantage of the recent advancements in graph neural networks (GNNs). We present GNN-based architecture that predicts the top set of papers at the time of publication. For experiments, we curate a set of academic citation graphs for a variety of conferences and show that the proposed model outperforms other classic machine learning models in terms of the F1-score.
In machine learning and data science, we often consider efficiency for solving problems. In sparse estimation, such as fused lasso and convex clustering, we apply either the proximal gradient method or the alternating direction method of multipliers (ADMM) to solve the problem. It takes time to include matrix division in the former case, while an efficient method such as FISTA (fast iterative shrinkage-thresholding algorithm) has been developed in the latter case. This paper proposes a general method for converting the ADMM solution to the proximal gradient method, assuming that the constraints and objectives are strongly convex. Then, we apply it to sparse estimation problems, such as sparse convex clustering and trend filtering, and we show by numerical experiments that we can obtain a significant improvement in terms of efficiency.
Despite the central importance of research papers to scientific progress, they can be difficult to read. Comprehension is often stymied when the information needed to understand a passage resides somewhere else: in another section, or in another paper. In this work, we envision how interfaces can bring definitions of technical terms and symbols to readers when and where they need them most. We introduce ScholarPhi, an augmented reading interface with four novel features: (1) tooltips that surface position-sensitive definitions from elsewhere in a paper, (2) a filter over the paper that "declutters" it to reveal how the term or symbol is used across the paper, (3) automatic equation diagrams that expose multiple definitions in parallel, and (4) an automatically generated glossary of important terms and symbols. A usability study showed that the tool helps researchers of all experience levels read papers. Furthermore, researchers were eager to have ScholarPhi's definitions available to support their everyday reading.
There is a lack of scalable quantitative measures of reactivity for functional groups in organic chemistry. Measuring reactivity experimentally is costly and time-consuming and does not scale to the astronomical size of chemical space. In previous quantum chemistry studies, we have introduced Methyl Cation Affinities (MCA*) and Methyl Anion Affinities (MAA*), using a solvation model, as quantitative measures of reactivity for organic functional groups over the broadest range. Although MCA* and MAA* offer good estimates of reactivity parameters, their calculation through Density Functional Theory (DFT) simulations is time-consuming. To circumvent this problem, we first use DFT to calculate MCA* and MAA* for more than 2,400 organic molecules thereby establishing a large dataset of chemical reactivity scores. We then design deep learning methods to predict the reactivity of molecular structures and train them using this curated dataset in combination with different representations of molecular structures. Using ten-fold cross-validation, we show that graph attention neural networks applied to informative input fingerprints produce the most accurate estimates of reactivity, achieving over 91% test accuracy for predicting the MCA* plus-minus 3.0 or MAA* plus-minus 3.0, over 50 orders of magnitude. Finally, we demonstrate the application of these reactivity scores to two tasks: (1) chemical reaction prediction; (2) combinatorial generation of reaction mechanisms. The curated dataset of MCA* and MAA* scores is available through the ChemDB chemoinformatics web portal at www.cdb.ics.uci.edu.
Reinforcement learning (RL) is always the preferred embodiment to construct the control strategy of complex tasks, like asymmetric assembly tasks. However, the convergence speed of reinforcement learning severely restricts its practical application. In this paper, the convergence is first accelerated by combining RL and compliance control. Then a completely innovative progressive extension of action dimension (PEAD) mechanism is proposed to optimize the convergence of RL algorithms. The PEAD method is verified in DDPG and PPO. The results demonstrate the PEAD method will enhance the data-efficiency and time-efficiency of RL algorithms as well as increase the stable reward, which provides more potential for the application of RL.