Nonparametric Bayesian Learning For Collaborative Robot Multimodal Introspection
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Nonparametric Bayesian Learning For Collaborative Robot Multimodal Introspection
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Author : Xuefeng Zhou
language : en
Publisher: Springer Nature
Release Date : 2020-01-01
Nonparametric Bayesian Learning For Collaborative Robot Multimodal Introspection written by Xuefeng Zhou and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-01-01 with Automatic control categories.
This open access book focuses on robot introspection, which has a direct impact on physical human-robot interaction and long-term autonomy, and which can benefit from autonomous anomaly monitoring and diagnosis, as well as anomaly recovery strategies. In robotics, the ability to reason, solve their own anomalies and proactively enrich owned knowledge is a direct way to improve autonomous behaviors. To this end, the authors start by considering the underlying pattern of multimodal observation during robot manipulation, which can effectively be modeled as a parametric hidden Markov model (HMM). They then adopt a nonparametric Bayesian approach in defining a prior using the hierarchical Dirichlet process (HDP) on the standard HMM parameters, known as the Hierarchical Dirichlet Process Hidden Markov Model (HDP-HMM). The HDP-HMM can examine an HMM with an unbounded number of possible states and allows flexibility in the complexity of the learned model and the development of reliable and scalable variational inference methods. This book is a valuable reference resource for researchers and designers in the field of robot learning and multimodal perception, as well as for senior undergraduate and graduate university students.
Nonparametric Bayesian Learning For Collaborative Robot Multimodal Introspection
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Author : Xuefeng Zhou
language : en
Publisher: Springer
Release Date : 2020-09-18
Nonparametric Bayesian Learning For Collaborative Robot Multimodal Introspection written by Xuefeng Zhou and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-09-18 with Technology & Engineering categories.
This open access book focuses on robot introspection, which has a direct impact on physical human–robot interaction and long-term autonomy, and which can benefit from autonomous anomaly monitoring and diagnosis, as well as anomaly recovery strategies. In robotics, the ability to reason, solve their own anomalies and proactively enrich owned knowledge is a direct way to improve autonomous behaviors. To this end, the authors start by considering the underlying pattern of multimodal observation during robot manipulation, which can effectively be modeled as a parametric hidden Markov model (HMM). They then adopt a nonparametric Bayesian approach in defining a prior using the hierarchical Dirichlet process (HDP) on the standard HMM parameters, known as the Hierarchical Dirichlet Process Hidden Markov Model (HDP-HMM). The HDP-HMM can examine an HMM with an unbounded number of possible states and allows flexibility in the complexity of the learned model and the development of reliable and scalable variational inference methods. This book is a valuable reference resource for researchers and designers in the field of robot learning and multimodal perception, as well as for senior undergraduate and graduate university students.
Gaussian Processes For Machine Learning
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Author : Carl Edward Rasmussen
language : en
Publisher: MIT Press
Release Date : 2005-11-23
Gaussian Processes For Machine Learning written by Carl Edward Rasmussen and has been published by MIT Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2005-11-23 with Computers categories.
A comprehensive and self-contained introduction to Gaussian processes, which provide a principled, practical, probabilistic approach to learning in kernel machines. Gaussian processes (GPs) provide a principled, practical, probabilistic approach to learning in kernel machines. GPs have received increased attention in the machine-learning community over the past decade, and this book provides a long-needed systematic and unified treatment of theoretical and practical aspects of GPs in machine learning. The treatment is comprehensive and self-contained, targeted at researchers and students in machine learning and applied statistics. The book deals with the supervised-learning problem for both regression and classification, and includes detailed algorithms. A wide variety of covariance (kernel) functions are presented and their properties discussed. Model selection is discussed both from a Bayesian and a classical perspective. Many connections to other well-known techniques from machine learning and statistics are discussed, including support-vector machines, neural networks, splines, regularization networks, relevance vector machines and others. Theoretical issues including learning curves and the PAC-Bayesian framework are treated, and several approximation methods for learning with large datasets are discussed. The book contains illustrative examples and exercises, and code and datasets are available on the Web. Appendixes provide mathematical background and a discussion of Gaussian Markov processes.
Robot Programming By Demonstration
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Author : Sylvain Calinon
language : en
Publisher: EPFL Press
Release Date : 2009-08-24
Robot Programming By Demonstration written by Sylvain Calinon and has been published by EPFL Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009-08-24 with Computers categories.
Recent advances in RbD have identified a number of key issues for ensuring a generic approach to the transfer of skills across various agents and contexts. This book focuses on the two generic questions of what to imitate and how to imitate and proposes active teaching methods.
Federated Learning
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Author : Qiang Yang
language : en
Publisher: Springer Nature
Release Date : 2020-11-25
Federated Learning written by Qiang Yang and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-11-25 with Computers categories.
This book provides a comprehensive and self-contained introduction to federated learning, ranging from the basic knowledge and theories to various key applications. Privacy and incentive issues are the focus of this book. It is timely as federated learning is becoming popular after the release of the General Data Protection Regulation (GDPR). Since federated learning aims to enable a machine model to be collaboratively trained without each party exposing private data to others. This setting adheres to regulatory requirements of data privacy protection such as GDPR. This book contains three main parts. Firstly, it introduces different privacy-preserving methods for protecting a federated learning model against different types of attacks such as data leakage and/or data poisoning. Secondly, the book presents incentive mechanisms which aim to encourage individuals to participate in the federated learning ecosystems. Last but not least, this book also describes how federated learning can be applied in industry and business to address data silo and privacy-preserving problems. The book is intended for readers from both the academia and the industry, who would like to learn about federated learning, practice its implementation, and apply it in their own business. Readers are expected to have some basic understanding of linear algebra, calculus, and neural network. Additionally, domain knowledge in FinTech and marketing would be helpful.”
Special Topics In Information Technology
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Author : Barbara Pernici
language : en
Publisher: Springer Nature
Release Date : 2019-10-01
Special Topics In Information Technology written by Barbara Pernici and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-10-01 with Technology & Engineering categories.
This open access book presents nine outstanding doctoral dissertations in Information Technology from the Department of Electronics, Information and Bioengineering, Politecnico di Milano, Italy. Information Technology has always been highly interdisciplinary, as many aspects have to be considered in IT systems. The doctoral studies program in IT at Politecnico di Milano emphasizes this interdisciplinary nature, which is becoming more and more important in recent technological advances, in collaborative projects, and in the education of young researchers. Accordingly, the focus of advanced research is on pursuing a rigorous approach to specific research topics starting from a broad background in various areas of Information Technology, especially Computer Science and Engineering, Electronics, Systems and Controls, and Telecommunications. Each year, more than 50 PhDs graduate from the program. This book gathers the outcomes of the nine best theses defended in 2018-19 and selected for the IT PhD Award. Each of the nine authors provides a chapter summarizing his/her findings, including an introduction, description of methods, main achievements and future work on the topic. Hence, the book provides a cutting-edge overview of the latest research trends in Information Technology at Politecnico di Milano, presented in an easy-to-read format that will also appeal to non-specialists.
Robotic Mapping And Exploration
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Author : Cyrill Stachniss
language : en
Publisher: Springer
Release Date : 2009-05-06
Robotic Mapping And Exploration written by Cyrill Stachniss and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009-05-06 with Technology & Engineering categories.
"Robotic Mapping and Exploration" is an important contribution in the area of simultaneous localization and mapping (SLAM) for autonomous robots, which has been receiving a great deal of attention by the research community in the latest few years. The contents are focused on the autonomous mapping learning problem. Solutions include uncertainty-driven exploration, active loop closing, coordination of multiple robots, learning and incorporating background knowledge, and dealing with dynamic environments. Results are accompanied by a rich set of experiments, revealing a promising outlook toward the application to a wide range of mobile robots and field settings, such as search and rescue, transportation tasks, or automated vacuum cleaning.
Robot Learning From Human Teachers
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Author : Sonia Chernova
language : en
Publisher: Morgan & Claypool Publishers
Release Date : 2014-04-01
Robot Learning From Human Teachers written by Sonia Chernova and has been published by Morgan & Claypool Publishers this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-04-01 with Computers categories.
Learning from Demonstration (LfD) explores techniques for learning a task policy from examples provided by a human teacher. The field of LfD has grown into an extensive body of literature over the past 30 years, with a wide variety of approaches for encoding human demonstrations and modeling skills and tasks. Additionally, we have recently seen a focus on gathering data from non-expert human teachers (i.e., domain experts but not robotics experts). In this book, we provide an introduction to the field with a focus on the unique technical challenges associated with designing robots that learn from naive human teachers. We begin, in the introduction, with a unification of the various terminology seen in the literature as well as an outline of the design choices one has in designing an LfD system. Chapter 2 gives a brief survey of the psychology literature that provides insights from human social learning that are relevant to designing robotic social learners. Chapter 3 walks through an LfD interaction, surveying the design choices one makes and state of the art approaches in prior work. First, is the choice of input, how the human teacher interacts with the robot to provide demonstrations. Next, is the choice of modeling technique. Currently, there is a dichotomy in the field between approaches that model low-level motor skills and those that model high-level tasks composed of primitive actions. We devote a chapter to each of these. Chapter 7 is devoted to interactive and active learning approaches that allow the robot to refine an existing task model. And finally, Chapter 8 provides best practices for evaluation of LfD systems, with a focus on how to approach experiments with human subjects in this domain.
Reinforcement Learning
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Author : Richard S. Sutton
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Reinforcement Learning written by Richard S. Sutton and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Computers categories.
Reinforcement learning is the learning of a mapping from situations to actions so as to maximize a scalar reward or reinforcement signal. The learner is not told which action to take, as in most forms of machine learning, but instead must discover which actions yield the highest reward by trying them. In the most interesting and challenging cases, actions may affect not only the immediate reward, but also the next situation, and through that all subsequent rewards. These two characteristics -- trial-and-error search and delayed reward -- are the most important distinguishing features of reinforcement learning. Reinforcement learning is both a new and a very old topic in AI. The term appears to have been coined by Minsk (1961), and independently in control theory by Walz and Fu (1965). The earliest machine learning research now viewed as directly relevant was Samuel's (1959) checker player, which used temporal-difference learning to manage delayed reward much as it is used today. Of course learning and reinforcement have been studied in psychology for almost a century, and that work has had a very strong impact on the AI/engineering work. One could in fact consider all of reinforcement learning to be simply the reverse engineering of certain psychological learning processes (e.g. operant conditioning and secondary reinforcement). Reinforcement Learning is an edited volume of original research, comprising seven invited contributions by leading researchers.
Handbook Of The Fundamentals Of Financial Decision Making
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Author : Leonard C. MacLean
language : en
Publisher: World Scientific
Release Date : 2013
Handbook Of The Fundamentals Of Financial Decision Making written by Leonard C. MacLean and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013 with Business & Economics categories.
This handbook in two parts covers key topics of the theory of financial decision making. Some of the papers discuss real applications or case studies as well. There are a number of new papers that have never been published before especially in Part II.Part I is concerned with Decision Making Under Uncertainty. This includes subsections on Arbitrage, Utility Theory, Risk Aversion and Static Portfolio Theory, and Stochastic Dominance. Part II is concerned with Dynamic Modeling that is the transition for static decision making to multiperiod decision making. The analysis starts with Risk Measures and then discusses Dynamic Portfolio Theory, Tactical Asset Allocation and Asset-Liability Management Using Utility and Goal Based Consumption-Investment Decision Models.A comprehensive set of problems both computational and review and mind expanding with many unsolved problems are in an accompanying problems book. The handbook plus the book of problems form a very strong set of materials for PhD and Masters courses both as the main or as supplementary text in finance theory, financial decision making and portfolio theory. For researchers, it is a valuable resource being an up to date treatment of topics in the classic books on these topics by Johnathan Ingersoll in 1988, and William Ziemba and Raymond Vickson in 1975 (updated 2 nd edition published in 2006).