scholarly journals Data-Driven Imitation Learning for a Shopkeeper Robot with Periodically Changing Product Information

2021 ◽  
Vol 10 (4) ◽  
pp. 1-20
Author(s):  
Malcolm Doering ◽  
Dražen Brščić ◽  
Takayuki Kanda
Keyword(s):  
Product Information ◽  
State Of The Art ◽  
Learning System ◽  
Imitation Learning ◽  
Data Driven ◽  
Service Robots ◽  
Interaction Dataset ◽  
Previous State ◽  
Interaction Behaviors ◽  
Information Database

Data-driven imitation learning enables service robots to learn social interaction behaviors, but these systems cannot adapt after training to changes in the environment, such as changing products in a store. To solve this, a novel learning system that uses neural attention and approximate string matching to copy information from a product information database to its output is proposed. A camera shop interaction dataset was simulated for training/testing. The proposed system was found to outperform a baseline and a previous state of the art in an offline, human-judged evaluation.

scholarly journals Data-driven planning via imitation learning

2018 ◽  
Vol 37 (13-14) ◽  
pp. 1632-1672 ◽  
Author(s):  
Sanjiban Choudhury ◽  
Mohak Bhardwaj ◽  
Sankalp Arora ◽  
Ashish Kapoor ◽  
Gireeja Ranade ◽  
...  
Keyword(s):  
Partial Information ◽  
State Of The Art ◽  
Imitation Learning ◽  
Data Driven ◽  
Sequential Decision ◽  
Efficient Manner ◽  
World State ◽  
Performance Guarantees ◽  
The World ◽  
Planning Problems

Robot planning is the process of selecting a sequence of actions that optimize for a task=specific objective. For instance, the objective for a navigation task would be to find collision-free paths, whereas the objective for an exploration task would be to map unknown areas. The optimal solutions to such tasks are heavily influenced by the implicit structure in the environment, i.e. the configuration of objects in the world. State-of-the-art planning approaches, however, do not exploit this structure, thereby expending valuable effort searching the action space instead of focusing on potentially good actions. In this paper, we address the problem of enabling planners to adapt their search strategies by inferring such good actions in an efficient manner using only the information uncovered by the search up until that time. We formulate this as a problem of sequential decision making under uncertainty where at a given iteration a planning policy must map the state of the search to a planning action. Unfortunately, the training process for such partial-information-based policies is slow to converge and susceptible to poor local minima. Our key insight is that if we could fully observe the underlying world map, we would easily be able to disambiguate between good and bad actions. We hence present a novel data-driven imitation learning framework to efficiently train planning policies by imitating a clairvoyant oracle: an oracle that at train time has full knowledge about the world map and can compute optimal decisions. We leverage the fact that for planning problems, such oracles can be efficiently computed and derive performance guarantees for the learnt policy. We examine two important domains that rely on partial-information-based policies: informative path planning and search-based motion planning. We validate the approach on a spectrum of environments for both problem domains, including experiments on a real UAV, and show that the learnt policy consistently outperforms state-of-the-art algorithms. Our framework is able to train policies that achieve up to [Formula: see text] more reward than state-of-the art information-gathering heuristics and a [Formula: see text] speedup as compared with A* on search-based planning problems. Our approach paves the way forward for applying data-driven techniques to other such problem domains under the umbrella of robot planning.

scholarly journals Generalization in data-driven models of primary visual cortex

2020 ◽  
Author(s):  
Konstantin-Klemens Lurz ◽  
Mohammad Bashiri ◽  
Konstantin Willeke ◽  
Akshay K. Jagadish ◽  
Eric Wang ◽  
...  
Keyword(s):  
Visual Cortex ◽  
Transfer Learning ◽  
Primary Visual Cortex ◽  
State Of The Art ◽  
Response Prediction ◽  
Data Driven ◽  
Convolutional Network ◽  
The Core ◽  
Current Task ◽  
Previous State

AbstractDeep neural networks (DNN) have set new standards at predicting responses of neural populations to visual input. Most such DNNs consist of a convolutional network (core) shared across all neurons which learns a representation of neural computation in visual cortex and a neuron-specific readout that linearly combines the relevant features in this representation. The goal of this paper is to test whether such a representation is indeed generally characteristic for visual cortex, i.e. generalizes between animals of a species, and what factors contribute to obtaining such a generalizing core. To push all non-linear computations into the core where the generalizing cortical features should be learned, we devise a novel readout that reduces the number of parameters per neuron in the readout by up to two orders of magnitude compared to the previous state-of-the-art. It does so by taking advantage of retinotopy and learns a Gaussian distribution over the neuron’s receptive field position. With this new readout we train our network on neural responses from mouse primary visual cortex (V1) and obtain a gain in performance of 7% compared to the previous state-of-the-art network. We then investigate whether the convolutional core indeed captures general cortical features by using the core in transfer learning to a different animal. When transferring a core trained on thousands of neurons from various animals and scans we exceed the performance of training directly on that animal by 12%, and outperform a commonly used VGG16 core pre-trained on imagenet by 33%. In addition, transfer learning with our data-driven core is more data-efficient than direct training, achieving the same performance with only 40% of the data. Our model with its novel readout thus sets a new state-of-the-art for neural response prediction in mouse visual cortex from natural images, generalizes between animals, and captures better characteristic cortical features than current task-driven pre-training approaches such as VGG16.

Multi-Resolution Autoregressive Graph-to-Graph Translation for Molecules

2019 ◽  
Author(s):  
Wengong Jin ◽  
Regina Barzilay ◽  
Tommi S Jaakkola
Keyword(s):  
Drug Discovery ◽  
State Of The Art ◽  
Molecular Graph ◽  
Biochemical Properties ◽  
Large Margin ◽  
Previous State ◽  
Translation Methods ◽  
Atom Level ◽  
Precursor Molecules ◽  
Prior State

The problem of accelerating drug discovery relies heavily on automatic tools to optimize precursor molecules to afford them with better biochemical properties. Our work in this paper substantially extends prior state-of-the-art on graph-to-graph translation methods for molecular optimization. In particular, we realize coherent multi-resolution representations by interweaving trees over substructures with the atom-level encoding of the original molecular graph. Moreover, our graph decoder is fully autoregressive, and interleaves each step of adding a new substructure with the process of resolving its connectivity to the emerging molecule. We evaluate our model on multiple molecular optimization tasks and show that our model outperforms previous state-of-the-art baselines by a large margin.

scholarly journals Using spatial-temporal ensembles of convolutional neural networks for lumen segmentation in ureteroscopy

2021 ◽  
Author(s):  
Jorge F. Lazo ◽  
Aldo Marzullo ◽  
Sara Moccia ◽  
Michele Catellani ◽  
Benoit Rosa ◽  
...  
Keyword(s):  
Neural Networks ◽  
Convolutional Neural Networks ◽  
State Of The Art ◽  
Automatic Segmentation ◽  
Temporal Information ◽  
Invasive Technique ◽  
Dice Similarity Coefficient ◽  
Specular Reflections ◽  
Lumen Segmentation ◽  
Previous State

Abstract Purpose Ureteroscopy is an efficient endoscopic minimally invasive technique for the diagnosis and treatment of upper tract urothelial carcinoma. During ureteroscopy, the automatic segmentation of the hollow lumen is of primary importance, since it indicates the path that the endoscope should follow. In order to obtain an accurate segmentation of the hollow lumen, this paper presents an automatic method based on convolutional neural networks (CNNs). Methods The proposed method is based on an ensemble of 4 parallel CNNs to simultaneously process single and multi-frame information. Of these, two architectures are taken as core-models, namely U-Net based in residual blocks ($$m_1$$ m 1 ) and Mask-RCNN ($$m_2$$ m 2 ), which are fed with single still-frames I(t). The other two models ($$M_1$$ M 1 , $$M_2$$ M 2 ) are modifications of the former ones consisting on the addition of a stage which makes use of 3D convolutions to process temporal information. $$M_1$$ M 1 , $$M_2$$ M 2 are fed with triplets of frames ($$I(t-1)$$ I ( t - 1 ) , I(t), $$I(t+1)$$ I ( t + 1 ) ) to produce the segmentation for I(t). Results The proposed method was evaluated using a custom dataset of 11 videos (2673 frames) which were collected and manually annotated from 6 patients. We obtain a Dice similarity coefficient of 0.80, outperforming previous state-of-the-art methods. Conclusion The obtained results show that spatial-temporal information can be effectively exploited by the ensemble model to improve hollow lumen segmentation in ureteroscopic images. The method is effective also in the presence of poor visibility, occasional bleeding, or specular reflections.

scholarly journals Analysis of Synthetic Voltage vs. Capacity Datasets for Big Data Li-ion Diagnosis and Prognosis

Energies ◽  
2021 ◽  
Vol 14 (9) ◽  
pp. 2371
Author(s):  
Matthieu Dubarry ◽  
David Beck
Keyword(s):  
Cobalt Oxide ◽  
State Of The Art ◽  
Data Driven ◽  
Nickel Aluminum ◽  
Li Ion Battery ◽  
Diagnosis And Prognosis ◽  
Detailed Statistical Analysis ◽  
Li Ion ◽  
Synthetic Datasets ◽  
Nickel Manganese

The development of data driven methods for Li-ion battery diagnosis and prognosis is a growing field of research for the battery community. A big limitation is usually the size of the training datasets which are typically not fully representative of the real usage of the cells. Synthetic datasets were proposed to circumvent this issue. This publication provides improved datasets for three major battery chemistries, LiFePO4, Nickel Aluminum Cobalt Oxide, and Nickel Manganese Cobalt Oxide 811. These datasets can be used for statistical or deep learning methods. This work also provides a detailed statistical analysis of the datasets. Accurate diagnosis as well as early prognosis comparable with state of the art, while providing physical interpretability, were demonstrated by using the combined information of three learnable parameters.

scholarly journals A Machine Vision Approach for Bioreactor Foam Sensing

2021 ◽  
pp. 247263032110088
Author(s):  
Jonas Austerjost ◽  
Robert Söldner ◽  
Christoffer Edlund ◽  
Johan Trygg ◽  
David Pollard ◽  
...  
Keyword(s):  
Machine Learning ◽  
Machine Vision ◽  
State Of The Art ◽  
Low Cost ◽  
High Accuracy ◽  
Consumer Electronics ◽  
Learning System ◽  
Automotive Applications ◽  
Fine Grained

Machine vision is a powerful technology that has become increasingly popular and accurate during the last decade due to rapid advances in the field of machine learning. The majority of machine vision applications are currently found in consumer electronics, automotive applications, and quality control, yet the potential for bioprocessing applications is tremendous. For instance, detecting and controlling foam emergence is important for all upstream bioprocesses, but the lack of robust foam sensing often leads to batch failures from foam-outs or overaddition of antifoam agents. Here, we report a new low-cost, flexible, and reliable foam sensor concept for bioreactor applications. The concept applies convolutional neural networks (CNNs), a state-of-the-art machine learning system for image processing. The implemented method shows high accuracy for both binary foam detection (foam/no foam) and fine-grained classification of foam levels.

scholarly journals Data-Driven Structural Health Monitoring and Damage Detection through Deep Learning: State-of-the-Art Review

Sensors ◽  
2020 ◽  
Vol 20 (10) ◽  
pp. 2778 ◽  
Author(s):  
Mohsen Azimi ◽  
Armin Eslamlou ◽  
Gokhan Pekcan
Keyword(s):  
Deep Learning ◽  
Structural Health Monitoring ◽  
Health Monitoring ◽  
High Speed ◽  
Deep Neural Networks ◽  
State Of The Art ◽  
Data Driven ◽  
Structural Health ◽  
Promising Tool ◽  
Significant Attention

Data-driven methods in structural health monitoring (SHM) is gaining popularity due to recent technological advancements in sensors, as well as high-speed internet and cloud-based computation. Since the introduction of deep learning (DL) in civil engineering, particularly in SHM, this emerging and promising tool has attracted significant attention among researchers. The main goal of this paper is to review the latest publications in SHM using emerging DL-based methods and provide readers with an overall understanding of various SHM applications. After a brief introduction, an overview of various DL methods (e.g., deep neural networks, transfer learning, etc.) is presented. The procedure and application of vibration-based, vision-based monitoring, along with some of the recent technologies used for SHM, such as sensors, unmanned aerial vehicles (UAVs), etc. are discussed. The review concludes with prospects and potential limitations of DL-based methods in SHM applications.

scholarly journals A Proposed Model for Detecting Learning Styles Based on Agent Learning

2016 ◽  
Vol 11 (10) ◽  
pp. 65 ◽  
Author(s):  
M S Hasibuan ◽  
L E Nugroho ◽  
P I Santosa ◽  
S S Kusumawardani
Keyword(s):  
Learning Styles ◽  
Learning Style ◽  
Evaluation Model ◽  
Learning System ◽  
Learning Activities ◽  
Instructional Materials ◽  
Data Driven ◽  
Automatic Learning ◽  
Proposed Model ◽  
Agent Learning

A learning style is an issue related to learners. In one way or the other, learning style could assist learners in their learning activities if students ignore their learning styles, it may influence their effort in understanding teaching materials. To overcome these problems, a model for reliable automatic learning style detection is needed. Currently, there are two approaches in detecting learning styles: data driven and literature based. Learners, especially those with changing learning styles, have difficulties in adopting these two approach since they are not adaptive, dynamic and responsive (ADR). To solve the above problems, a model using agent learning approach is proposes. Agent learning involves performing activities in four phases, i.e. initialization, learning, matching and, recommendations to decide the learning styles the students use. The proposed system will provide instructional materials that match the learning style that has been detected. The automatics detection process is performed by combining the data-driven and literature-based approaches. We propose an evaluation model agent learning system to ensure the model is working properly.

scholarly journals High-Fidelity Simulated Players for Interactive Narrative Planning

2018 ◽  
Author(s):  
Pengcheng Wang ◽  
Jonathan Rowe ◽  
Wookhee Min ◽  
Bradford Mott ◽  
James Lester
Keyword(s):  
State Of The Art ◽  
Data Driven ◽  
High Fidelity ◽  
Interactive Narrative ◽  
Interaction Data ◽  
Convolutional Networks ◽  
Novel Approach ◽  
Adaptation Policies ◽  
Narrative Planning ◽  
Prior State

Interactive narrative planning offers significant potential for creating adaptive gameplay experiences. While data-driven techniques have been devised that utilize player interaction data to induce policies for interactive narrative planners, they require enormously large gameplay datasets. A promising approach to addressing this challenge is creating simulated players whose behaviors closely approximate those of human players. In this paper, we propose a novel approach to generating high-fidelity simulated players based on deep recurrent highway networks and deep convolutional networks. Empirical results demonstrate that the proposed models significantly outperform the prior state-of-the-art in generating high-fidelity simulated player models that accurately imitate human players’ narrative interactions. Using the high-fidelity simulated player models, we show the advantage of more exploratory reinforcement learning methods for deriving generalizable narrative adaptation policies.

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