An assertion and alignment correction framework for large scale knowledge bases

Various knowledge bases (KBs) have been constructed via information extraction from encyclopedias, text and tables, as well as alignment of multiple sources. Their usefulness and usability is often limited by quality issues. One common issue is the presence of erroneous assertions and alignments, often caused by lexical or semantic confusion. We study the problem of correcting such assertions and alignments, and present a general correction framework which combines lexical matching, context-aware sub-KB extraction, semantic embedding, soft constraint mining and semantic consistency checking. The framework is evaluated with one set of literal assertions from DBpedia, one set of entity assertions from an enterprise medical KB, and one set of mapping assertions from a music KB constructed by integrating Wikidata, Discogs and MusicBrainz. It has achieved promising results, with a correction rate (i.e., the ratio of the target assertions/alignments that are corrected with right substitutes) of 70.1 %, 60.9 % and 71.8 %, respectively.

A variational approach for estimation of monocular depth and camera motion in autonomous driving

In this paper, a new direct computational approach to dense 3D reconstruction in autonomous driving is proposed to simultaneously estimate the depth and the camera motion for the motion stereo problem. A traditional Structure from Motion framework is utilized to establish geometric constrains for our variational model. The architecture is mainly composed of the texture constancy constraint, one-order motion smoothness constraint, a second-order depth regularize constraint and a soft constraint. The texture constancy constraint can improve the robustness against illumination changes. One-order motion smoothness constraint can reduce the noise in estimation of dense correspondence. The depth regularize constraint is used to handle inherent ambiguities and guarantee a smooth or piecewise smooth surface, and the soft constraint can provide a dense correspondence as initial estimation of the camera matrix to improve the robustness future. Compared to the traditional dense Structure from Motion approaches and popular stereo approaches, our monocular depth estimation results are more accurate and more robust. Even in contrast to the popular depth from single image networks, our variational approach still has good performance in estimation of monocular depth and camera motion.

Synchronized Motion Profiles for Inverse-Dynamics-Based Online Control of Three Inextensible Segments of Trunk-Type Robot Actuators

This study proposes a novel method for the positioning and spatial orientation control of three inextensible segments of trunk-type robots. The suggested algorithm imposes a soft constraint assumption for the end-effector’s endpoint and a mandatory constraint on its direction. Simultaneously, the algorithm by-design enforces nonholonomic features on the robot segments in the form of arcs. An approximate robot spine curve is the key to the final robot state configuration based on the given conditions. The numeric simulation showed acceptable (less than 1 s) performance for single-core processing tasks. The parametric method finds the best proximate robot state solution and represents the gray box model in addition to existing learning or black-box inverse dynamics approaches. This study also shows that a multiple inverse kinematics answer constructs a single inverse dynamics solution that defines the robot actuators’ motion profiles, synchronized in time. Finally, this text presents rotational expressions and their outlines for controlling the manipulator’s tendons.

Ant colony optimization with semi random initialization for nurse rostering problem

A nurse rostering problem is an NP-Hard problem that is difficult to solve during the complexity of the problem. Since good scheduling is the schedule that fulfilled the hard constraint and minimizes the violation of soft constraint, a lot of approaches is implemented to improve the quality of the schedule. This research proposed an improvement on ant colony optimization with semi-random initialization for nurse rostering problems. Semi-random initialization is applied to avoid violation of the hard constraint, and then the violation of soft constraint will be minimized using ant colony optimization. Semi-random initialization will improve the construction solution phase by assigning nurses directly to the shift that is related to the hard constraint, so the violation of hard constraint will be avoided from the beginning part. The scheduling process will complete by pheromone value by giving weight to the rest available shift during the ant colony optimization process. This proposed method is tested using a real-world problem taken from St. General Hospital Elisabeth. The objective function is formulated to minimize the violation of the constraints and balance nurse workload. The performance of the proposed method is examined by using different dimension problems, with the same number of ant and iteration. The proposed method is also compared to conventional ant colony optimization and genetic algorithm for performance comparison. The experiment result shows that the proposed method performs better with small to medium dimension problems. The semi-random initialization is a success to avoid violation of the hard constraint and minimize the objective value by about 24%. The proposed method gets the lowest objective value with 0,76 compared to conventional ant colony optimization with 124 and genetic algorithm with 1.

The Non-Smooth and Bi-Objective Team Orienteering Problem with Soft Constraints

In the classical team orienteering problem (TOP), a fixed fleet of vehicles is employed, each of them with a limited driving range. The manager has to decide about the subset of customers to visit, as well as the visiting order (routes). Each customer offers a different reward, which is gathered the first time that it is visited. The goal is then to maximize the total reward collected without exceeding the driving range constraint. This paper analyzes a more realistic version of the TOP in which the driving range limitation is considered as a soft constraint: every time that this range is exceeded, a penalty cost is triggered. This cost is modeled as a piece-wise function, which depends on factors such as the distance of the vehicle to the destination depot. As a result, the traditional reward-maximization objective becomes a non-smooth function. In addition, a second objective, regarding the design of balanced routing plans, is considered as well. A mathematical model for this non-smooth and bi-objective TOP is provided, and a biased-randomized algorithm is proposed as a solving approach.

Reinforcement Learning from Imperfect Demonstrations under Soft Expert Guidance

In this paper, we study Reinforcement Learning from Demonstrations (RLfD) that improves the exploration efficiency of Reinforcement Learning (RL) by providing expert demonstrations. Most of existing RLfD methods require demonstrations to be perfect and sufficient, which yet is unrealistic to meet in practice. To work on imperfect demonstrations, we first define an imperfect expert setting for RLfD in a formal way, and then point out that previous methods suffer from two issues in terms of optimality and convergence, respectively. Upon the theoretical findings we have derived, we tackle these two issues by regarding the expert guidance as a soft constraint on regulating the policy exploration of the agent, which eventually leads to a constrained optimization problem. We further demonstrate that such problem is able to be addressed efficiently by performing a local linear search on its dual form. Considerable empirical evaluations on a comprehensive collection of benchmarks indicate our method attains consistent improvement over other RLfD counterparts.