Small Variance Asymptotics for Non-Parametric Online Robot Learning

Small variance asymptotics is emerging as a useful technique for inference in large scale Bayesian non-parametric mixture models. This paper analyses the online learning of robot manipulation tasks with Bayesian non-parametric mixture models under small variance asymptotics. The analysis yields a scalable online sequence clustering (SOSC) algorithm that is non-parametric in the number of clusters and the subspace dimension of each cluster. SOSC groups the new datapoint in low dimensional subspaces by online inference in a non-parametric mixture of probabilistic principal component analyzers (MPPCA) based on Dirichlet process, and captures the state transition and state duration information online in a hidden semi-Markov model (HSMM) based on hierarchical Dirichlet process. A task-parameterized formulation of our approach autonomously adapts the model to changing environmental situations during manipulation. We apply the algorithm in a teleoperation setting to recognize the intention of the operator and remotely adjust the movement of the robot using the learned model. The generative model is used to synthesize both time-independent and time-dependent behaviours by relying on the principles of shared and autonomous control. Experiments with the Baxter robot yield parsimonious clusters that adapt online with new demonstrations and assist the operator in performing remote manipulation tasks.

Small-variance asymptotics for non-parametric online robot learning

Sylvain Calinon, Ajay Kumar Tanwani

Small-variance asymptotics is emerging as a useful technique for inference in large-scale Bayesian non-parametric mixture models. This paper analyzes the online learning of robot manipulation tasks with Bayesian non-parametric mixture models under small-variance asymptotics. The analysis yields a scalable online sequence clustering (SOSC) algorithm that is non-parametric in the number of clusters and the subspace dimension of each cluster. SOSC groups the new datapoint in low-dimensional subspaces by online inference in a non-parametric mixture of probabilistic principal component analyzers (MPPCA) based on a Dirichlet process, and captures the state transition and state duration information online in a hidden semi-Markov model (HSMM) based on a hierarchical Dirichlet process. A task-parameterized formulation of our approach autonomously adapts the model to changing environmental situations during manipulation. We apply the algorithm in a teleoperation setting to recognize the intention of the operator and remotely adjust the movement of the robot using the learned model. The generative model is used to synthesize both time-independent and time-dependent behaviors by relying on the principles of shared and autonomous control. Experiments with the Baxter robot yield parsimonious clusters that adapt online with new demonstrations and assist the operator in performing remote manipulation tasks.

SAGE PUBLICATIONS LTD2019

Online Inference in Bayesian Non-Parametric Mixture Models under Small Variance Asymptotics

Sylvain Calinon, Ajay Kumar Tanwani

Adapting statistical learning models online with large scale streaming data is a challenging problem. Bayesian non-parametric mixture models provide flexibility in model selection, however, their widespread use is limited by the computational overhead of existing sampling-based and variational techniques for inference. This paper analyses the online inference problem in Bayesian non-parametric mixture models under small variance asymptotics for large scale applications. Direct application of small variance asymptotic limit with isotropic Gaussians does not encode important coordination patterns/variance in the data. We apply the limit to discard only the redundant dimensions in a non-parametric manner and project the new datapoint in a latent subspace by online inference in a Dirichlet process mixture of probabilistic principal component analyzers (DP-MPPCA). We show its application in teaching a new skill to the Baxter robot online by teleoperation, where the number of clusters and the subspace dimension of each cluster is incrementally adapted with the streaming data to efficiently encode the acquired skill.

2016

Applications of Approximate Learning and Inference for Probabilistic Models

Young Jun Ko

We develop approximate inference and learning methods for facilitating the use of probabilistic modeling techniques motivated by applications in two different areas. First, we consider the ill-posed inverse problem of recovering an image from an underdetermined system of linear measurements corrupted by noise. Second, we consider the problem of inferring user preferences for items from counts, pairwise comparisons and user activity logs, instances of implicit feedback. Plausible models for images and the noise, incurred when recording them, render posterior inference intractable, while the scale of the inference problem makes sampling based approximations ineffective. Therefore, we develop deterministic approximate inference algorithms for two different augmentations of a typical sparse linear model: first, for the rectified-linear Poisson likelihood, and second, for tree-structured super-Gaussian mixture models. The rectified-linear Poisson likelihood is an alternative noise model, applicable in astronomical and biomedical imaging applications, that operate in intensity regimes in which quantum effects lead to observations that are best described by counts of particles arriving at a sensor, as well as in general Poisson regression problems arising in various fields. In this context we show, that the model-specific computations for Expectation Propagation can be robustly solved by a simple dynamic program. Next, we develop a scalable approximate inference algorithm for structured mixture models, that uses a discrete graphical model to represent dependencies between the latent mixture components of a collection of mixture models. Specifically, we use tree-structured mixtures of super-Gaussians to model the persistence across scales of large coefficients of the Wavelet transform of an image for improved reconstruction. In the second part on models of user preference, we consider two settings: the global static and the contextual dynamic setting. In the global static setting, we represent user-item preferences by a latent low-rank matrix. Instead of using numeric ratings we develop methods to infer this latent representation for two types of implicit feedback: aggregate counts of users interacting with a service and the binary outcomes of pairwise comparisons. We model count data using a latent Gaussian bilinear model with Poisson likelihoods. For this model, we show that the Variational Gaussian approximation can be further relaxed to be available in closed-form by adding additional constraints, leading to an efficient inference algorithm. In the second implicit feedback scenario, we infer the latent preference matrix from pairwise preference statements. We combine a low-rank bilinear model with non-parameteric item- feature regression and develop a novel approximate variational Expectation Maximization algorithm that mitigates the computational challenges due to latent couplings induced by the pairwise comparisons. Finally, in the contextual dynamic setting, we model sequences of user activity at the granularity of single interaction events instead of aggregate counts. Routinely gathered in the background at a large scale in many applications, such sequences can reveal temporal and contextual aspects of user behavior through recurrent patterns. To describe such data, we propose a generic collaborative sequence model based on recurrent neural networks, that combines ideas from collaborative filtering and language modeling.

EPFL2017

Applications of Approximate Learning and Inference for Probabilistic Models

Young Jun Ko

EPFL2017