Dataset Information

Hierarchical Task-Parameterized Learning from Demonstration for Collaborative Object Movement.

ABSTRACT: Learning from demonstration (LfD) enables a robot to emulate natural human movement instead of merely executing preprogrammed behaviors. This article presents a hierarchical LfD structure of task-parameterized models for object movement tasks, which are ubiquitous in everyday life and could benefit from robotic support. Our approach uses the task-parameterized Gaussian mixture model (TP-GMM) algorithm to encode sets of demonstrations in separate models that each correspond to a different task situation. The robot then maximizes its expected performance in a new situation by either selecting a good existing model or requesting new demonstrations. Compared to a standard implementation that encodes all demonstrations together for all test situations, the proposed approach offers four advantages. First, a simply defined distance function can be used to estimate test performance by calculating the similarity between a test situation and the existing models. Second, the proposed approach can improve generalization, e.g., better satisfying the demonstrated task constraints and speeding up task execution. Third, because the hierarchical structure encodes each demonstrated situation individually, a wider range of task situations can be modeled in the same framework without deteriorating performance. Last, adding or removing demonstrations incurs low computational load, and thus, the robot's skill library can be built incrementally. We first instantiate the proposed approach in a simulated task to validate these advantages. We then show that the advantages transfer to real hardware for a task where naive participants collaborated with a Willow Garage PR2 robot to move a handheld object. For most tested scenarios, our hierarchical method achieved significantly better task performance and subjective ratings than both a passive model with only gravity compensation and a single TP-GMM encoding all demonstrations.

SUBMITTER: Hu S

PROVIDER: S-EPMC6914968 | biostudies-literature |

REPOSITORIES: biostudies-literature

ACCESS DATA

Similar Datasets

Project description:In this paper we probe the interaction between sequential and hierarchical learning by investigating implicit learning in a group of school-aged children. We administered a serial reaction time task, in the form of a modified Simon Task in which the stimuli were organised following the rules of two distinct artificial grammars, specifically Lindenmayer systems: the Fibonacci grammar (Fib) and the Skip grammar (a modification of the former). The choice of grammars is determined by the goal of this study, which is to investigate how sensitivity to structure emerges in the course of exposure to an input whose surface transitional properties (by hypothesis) bootstrap structure. The studies conducted to date have been mainly designed to investigate low-level superficial regularities, learnable in purely statistical terms, whereas hierarchical learning has not been effectively investigated yet. The possibility to directly pinpoint the interplay between sequential and hierarchical learning is instead at the core of our study: we presented children with two grammars, Fib and Skip, which share the same transitional regularities, thus providing identical opportunities for sequential learning, while crucially differing in their hierarchical structure. More particularly, there are specific points in the sequence (k-points), which, despite giving rise to the same transitional regularities in the two grammars, support hierarchical reconstruction in Fib but not in Skip. In our protocol, children were simply asked to perform a traditional Simon Task, and they were completely unaware of the real purposes of the task. Results indicate that sequential learning occurred in both grammars, as shown by the decrease in reaction times throughout the task, while differences were found in the sensitivity to k-points: these, we contend, play a role in hierarchical reconstruction in Fib, whereas they are devoid of structural significance in Skip. More particularly, we found that children were faster in correspondence to k-points in sequences produced by Fib, thus providing an entirely new kind of evidence for the hypothesis that implicit learning involves an early activation of strategies of hierarchical reconstruction, based on a straightforward interplay with the statistically-based computation of transitional regularities on the sequences of symbols.

Project description:BackgroundThe spread of antibiotic resistance has become one of the most urgent threats to global health, which is estimated to cause 700,000 deaths each year globally. Its surrogates, antibiotic resistance genes (ARGs), are highly transmittable between food, water, animal, and human to mitigate the efficacy of antibiotics. Accurately identifying ARGs is thus an indispensable step to understanding the ecology, and transmission of ARGs between environmental and human-associated reservoirs. Unfortunately, the previous computational methods for identifying ARGs are mostly based on sequence alignment, which cannot identify novel ARGs, and their applications are limited by currently incomplete knowledge about ARGs.ResultsHere, we propose an end-to-end Hierarchical Multi-task Deep learning framework for ARG annotation (HMD-ARG). Taking raw sequence encoding as input, HMD-ARG can identify, without querying against existing sequence databases, multiple ARG properties simultaneously, including if the input protein sequence is an ARG, and if so, what antibiotic family it is resistant to, what resistant mechanism the ARG takes, and if the ARG is an intrinsic one or acquired one. In addition, if the predicted antibiotic family is beta-lactamase, HMD-ARG further predicts the subclass of beta-lactamase that the ARG is resistant to. Comprehensive experiments, including cross-fold validation, third-party dataset validation in human gut microbiota, wet-experimental functional validation, and structural investigation of predicted conserved sites, demonstrate not only the superior performance of our method over the state-of-art methods, but also the effectiveness and robustness of the proposed method.ConclusionsWe propose a hierarchical multi-task method, HMD-ARG, which is based on deep learning and can provide detailed annotations of ARGs from three important aspects: resistant antibiotic class, resistant mechanism, and gene mobility. We believe that HMD-ARG can serve as a powerful tool to identify antibiotic resistance genes and, therefore mitigate their global threat. Our method and the constructed database are available at http://www.cbrc.kaust.edu.sa/HMDARG/ . Video abstract (MP4 50984 kb).

Project description:The benefits of integrating attention and object recognition are investigated. While attention is frequently modeled as a pre-processor for recognition, we investigate the hypothesis that attention is an intrinsic component of recognition and vice-versa. This hypothesis is tested with a recognition model, the hierarchical discriminant saliency network (HDSN), whose layers are top-down saliency detectors, tuned for a visual class according to the principles of discriminant saliency. As a model of neural computation, the HDSN has two possible implementations. In a biologically plausible implementation, all layers comply with the standard neurophysiological model of visual cortex, with sub-layers of simple and complex units that implement a combination of filtering, divisive normalization, pooling, and non-linearities. In a convolutional neural network implementation, all layers are convolutional and implement a combination of filtering, rectification, and pooling. The rectification is performed with a parametric extension of the now popular rectified linear units (ReLUs), whose parameters can be tuned for the detection of target object classes. This enables a number of functional enhancements over neural network models that lack a connection to saliency, including optimal feature denoising mechanisms for recognition, modulation of saliency responses by the discriminant power of the underlying features, and the ability to detect both feature presence and absence. In either implementation, each layer has a precise statistical interpretation, and all parameters are tuned by statistical learning. Each saliency detection layer learns more discriminant saliency templates than its predecessors and higher layers have larger pooling fields. This enables the HDSN to simultaneously achieve high selectivity to target object classes and invariance. The performance of the network in saliency and object recognition tasks is compared to those of models from the biological and computer vision literatures. This demonstrates benefits for all the functional enhancements of the HDSN, the class tuning inherent to discriminant saliency, and saliency layers based on templates of increasing target selectivity and invariance. Altogether, these experiments suggest that there are non-trivial benefits in integrating attention and recognition.

Dataset Information

Hierarchical Task-Parameterized Learning from Demonstration for Collaborative Object Movement.

Similar Datasets

OmicsDI is part of the ELIXIR infrastructure

Tweets