Matching Items (19)
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- All Subjects: artificial intelligence
- Creators: Srivastava, Siddharth
- Resource Type: Text
Description
Reinforcement learning (RL) is a powerful methodology for teaching autonomous agents complex behaviors and skills. A critical component in most RL algorithms is the reward function -- a mathematical function that provides numerical estimates for desirable and undesirable states. Typically, the reward function must be hand-designed by a human expert and, as a result, the scope of a robot's autonomy and ability to safely explore and learn in new and unforeseen environments is constrained by the specifics of the designed reward function. In this thesis, I design and implement a stateful collision anticipation model with powerful predictive capability based upon my research of sequential data modeling and modern recurrent neural networks. I also develop deep reinforcement learning methods whose rewards are generated by self-supervised training and intrinsic signals. The main objective is to work towards the development of resilient robots that can learn to anticipate and avoid damaging interactions by combining visual and proprioceptive cues from internal sensors. The introduced solutions are inspired by pain pathways in humans and animals, because such pathways are known to guide decision-making processes and promote self-preservation. A new "robot dodge ball' benchmark is introduced in order to test the validity of the developed algorithms in dynamic environments.
ContributorsRichardson, Trevor W (Author) / Ben Amor, Heni (Thesis advisor) / Yang, Yezhou (Committee member) / Srivastava, Siddharth (Committee member) / Arizona State University (Publisher)
Created2018
Description
In this thesis, a new approach to learning-based planning is presented where critical regions of an environment with low probability measure are learned from a given set of motion plans. Critical regions are learned using convolutional neural networks (CNN) to improve sampling processes for motion planning (MP).
In addition to an identification network, a new sampling-based motion planner, Learn and Link, is introduced. This planner leverages critical regions to overcome the limitations of uniform sampling while still maintaining guarantees of correctness inherent to sampling-based algorithms. Learn and Link is evaluated against planners from the Open Motion Planning Library (OMPL) on an extensive suite of challenging navigation planning problems. This work shows that critical areas of an environment are learnable, and can be used by Learn and Link to solve MP problems with far less planning time than existing sampling-based planners.
In addition to an identification network, a new sampling-based motion planner, Learn and Link, is introduced. This planner leverages critical regions to overcome the limitations of uniform sampling while still maintaining guarantees of correctness inherent to sampling-based algorithms. Learn and Link is evaluated against planners from the Open Motion Planning Library (OMPL) on an extensive suite of challenging navigation planning problems. This work shows that critical areas of an environment are learnable, and can be used by Learn and Link to solve MP problems with far less planning time than existing sampling-based planners.
ContributorsMolina, Daniel, M.S (Author) / Srivastava, Siddharth (Thesis advisor) / Li, Baoxin (Committee member) / Zhang, Yu (Committee member) / Arizona State University (Publisher)
Created2019
Description
Knowledge Representation (KR) is one of the prominent approaches to Artificial Intelligence (AI) that is concerned with representing knowledge in a form that computer systems can utilize to solve complex problems. Answer Set Programming (ASP), based on the stable model semantics, is a widely-used KR framework that facilitates elegant and efficient representations for many problem domains that require complex reasoning.
However, while ASP is effective on deterministic problem domains, it is not suitable for applications involving quantitative uncertainty, for example, those that require probabilistic reasoning. Furthermore, it is hard to utilize information that can be statistically induced from data with ASP problem modeling.
This dissertation presents the language LP^MLN, which is a probabilistic extension of the stable model semantics with the concept of weighted rules, inspired by Markov Logic. An LP^MLN program defines a probability distribution over "soft" stable models, which may not satisfy all rules, but the more rules with the bigger weights they satisfy, the bigger their probabilities. LP^MLN takes advantage of both ASP and Markov Logic in a single framework, allowing representation of problems that require both logical and probabilistic reasoning in an intuitive and elaboration tolerant way.
This dissertation establishes formal relations between LP^MLN and several other formalisms, discusses inference and weight learning algorithms under LP^MLN, and presents systems implementing the algorithms. LP^MLN systems can be used to compute other languages translatable into LP^MLN.
The advantage of LP^MLN for probabilistic reasoning is illustrated by a probabilistic extension of the action language BC+, called pBC+, defined as a high-level notation of LP^MLN for describing transition systems. Various probabilistic reasoning about transition systems, especially probabilistic diagnosis, can be modeled in pBC+ and computed using LP^MLN systems. pBC+ is further extended with the notion of utility, through a decision-theoretic extension of LP^MLN, and related with Markov Decision Process (MDP) in terms of policy optimization problems. pBC+ can be used to represent (PO)MDP in a succinct and elaboration tolerant way, which enables planning with (PO)MDP algorithms in action domains whose description requires rich KR constructs, such as recursive definitions and indirect effects of actions.
However, while ASP is effective on deterministic problem domains, it is not suitable for applications involving quantitative uncertainty, for example, those that require probabilistic reasoning. Furthermore, it is hard to utilize information that can be statistically induced from data with ASP problem modeling.
This dissertation presents the language LP^MLN, which is a probabilistic extension of the stable model semantics with the concept of weighted rules, inspired by Markov Logic. An LP^MLN program defines a probability distribution over "soft" stable models, which may not satisfy all rules, but the more rules with the bigger weights they satisfy, the bigger their probabilities. LP^MLN takes advantage of both ASP and Markov Logic in a single framework, allowing representation of problems that require both logical and probabilistic reasoning in an intuitive and elaboration tolerant way.
This dissertation establishes formal relations between LP^MLN and several other formalisms, discusses inference and weight learning algorithms under LP^MLN, and presents systems implementing the algorithms. LP^MLN systems can be used to compute other languages translatable into LP^MLN.
The advantage of LP^MLN for probabilistic reasoning is illustrated by a probabilistic extension of the action language BC+, called pBC+, defined as a high-level notation of LP^MLN for describing transition systems. Various probabilistic reasoning about transition systems, especially probabilistic diagnosis, can be modeled in pBC+ and computed using LP^MLN systems. pBC+ is further extended with the notion of utility, through a decision-theoretic extension of LP^MLN, and related with Markov Decision Process (MDP) in terms of policy optimization problems. pBC+ can be used to represent (PO)MDP in a succinct and elaboration tolerant way, which enables planning with (PO)MDP algorithms in action domains whose description requires rich KR constructs, such as recursive definitions and indirect effects of actions.
ContributorsWang, Yi (Author) / Lee, Joohyung (Thesis advisor) / Baral, Chitta (Committee member) / Kambhampati, Subbarao (Committee member) / Natarajan, Sriraam (Committee member) / Srivastava, Siddharth (Committee member) / Arizona State University (Publisher)
Created2019
Description
Is it possible to treat the mouth as a natural environment, and determine new methods to keep the microbiome in check? The need for biodiversity in health may suggest that every species carries out a specific function that is required to maintain equilibrium and homeostasis within the oral cavity. Furthermore, the relationship between the microbiome and its host is mutually beneficial because the host is providing microbes with an environment in which they can flourish and, in turn, keep their host healthy. Reviewing examples of larger scale environmental shifts could provide a window by which scientists can make hypotheses. Certain medications and healthcare treatments have been proven to cause xerostomia. This disorder is characterized by a dry mouth, and known to be associated with a change in the composition, and reduction, of saliva. Two case studies performed by Bardow et al, and Leal et al, tested and studied the relationships of certain medications and confirmed their side effects on the salivary glands [2,3]. Their results confirmed a relationship between specific medicines, and the correlating complaints of xerostomia. In addition, Vissink et al conducted case studies that helped to further identify how radiotherapy causes hyposalivation of the salivary glands [4]. Specifically patients that have been diagnosed with oral cancer, and are treated by radiotherapy, have been diagnosed with xerostomia. As stated prior, studies have shown that patients having an ecologically balanced and diverse microbiome tend to have healthier mouths. The oral cavity is like any biome, consisting of commensalism within itself and mutualism with its host. Due to the decreased salivary output, caused by xerostomia, increased parasitic bacteria build up within the oral cavity thus causing dental disease. Every human body contains a personalized microbiome that is essential to maintaining health but capable of eliciting disease. The Human Oral Microbiomics Database (HOMD) is a set of reference 16S rRNA gene sequences. These are then used to define individual human oral taxa. By conducting metagenomic experiments at the molecular and cellular level, scientists can identify and label micro species that inhabit the mouth during parasitic outbreaks or a shifting of the microbiome. Because the HOMD is incomplete, so is our ability to cure, or prevent, oral disease. The purpose of the thesis is to research what is known about xerostomia and its effects on the complex microbiome of the oral cavity. It is important that researchers determine whether this particular perspective is worth considering. In addition, the goal is to create novel experiments for treatment and prevention of dental diseases.
ContributorsHalcomb, Michael Jordan (Author) / Chen, Qiang (Thesis director) / Steele, Kelly (Committee member) / Barrett, The Honors College (Contributor) / College of Letters and Sciences (Contributor)
Created2015-05
Description
I, Christopher Negrich, am the sole author of this paper, but the tools described were designed in collaboration with Andrew Hoetker. ConstrictR (constrictor) and ConstrictPy are an R package and python tool designed together. ConstrictPy implements the functions and methods defined in ConstrictR and applies data handling, data parsing, input/output (I/O), and a user interface to increase usability. ConstrictR implements a variety of common data analysis methods used for statistical and subnetwork analysis. The majority of these methods are inspired by Lionel Guidi's 2016 paper, Plankton networks driving carbon export in the oligotrophic ocean. Additional methods were added to expand functionality, usability, and applicability to different areas of data science. Both ConstrictR and ConstrictPy are currently publicly available and usable, however, they are both ongoing projects. ConstrictR is available at github.com/cnegrich and ConstrictPy is available at github.com/ahoetker. Currently, ConstrictR has implemented functions for descriptive statistics, correlation, covariance, rank, sparsity, and weighted correlation network analysis with clustering, centrality, profiling, error handling, and data parsing methods to be released soon. ConstrictPy has fully implemented and integrated the features in ConstrictR as well as created functions for I/O and conversion between pandas and R data frames with a full feature user interface to be released soon. Both ConstrictR and ConstrictPy are designed to work with minimal dependencies and maximum available information on the algorithms implemented. As a result, ConstrictR is only dependent on base R (v3.4.4) functions with no libraries imported. ConstrictPy is dependent upon only pandas, Rpy2, and ConstrictR. This was done to increase longevity and independence of these tools. Additionally, all mathematical information is documented alongside the code, increasing the available information on how these tools function. Although neither tool is in its final version, this paper documents the code, mathematics, and instructions for use, in addition to plans for future work, for of the current versions of ConstrictR (v0.0.1) and ConstrictPy (v0.0.1).
ContributorsNegrich, Christopher Alec (Author) / Can, Huansheng (Thesis director) / Hansford, Dianne (Committee member) / School of Mathematical and Statistical Sciences (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
Classical planning is a field of Artificial Intelligence concerned with allowing autonomous agents to make reasonable decisions in complex environments. This work investigates
the application of deep learning and planning techniques, with the aim of constructing generalized plans capable of solving multiple problem instances. We construct a Deep Neural Network that, given an abstract problem state, predicts both (i) the best action to be taken from that state and (ii) the generalized “role” of the object being manipulated. The neural network was tested on two classical planning domains: the blocks world domain and the logistic domain. Results indicate that neural networks are capable of making such
predictions with high accuracy, indicating a promising new framework for approaching generalized planning problems.
the application of deep learning and planning techniques, with the aim of constructing generalized plans capable of solving multiple problem instances. We construct a Deep Neural Network that, given an abstract problem state, predicts both (i) the best action to be taken from that state and (ii) the generalized “role” of the object being manipulated. The neural network was tested on two classical planning domains: the blocks world domain and the logistic domain. Results indicate that neural networks are capable of making such
predictions with high accuracy, indicating a promising new framework for approaching generalized planning problems.
ContributorsNakhleh, Julia Blair (Author) / Srivastava, Siddharth (Thesis director) / Fainekos, Georgios (Committee member) / Computer Science and Engineering Program (Contributor) / School of International Letters and Cultures (Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
Description
Speech nasality disorders are characterized by abnormal resonance in the nasal cavity. Hypernasal speech is of particular interest, characterized by an inability to prevent improper nasalization of vowels, and poor articulation of plosive and fricative consonants, and can lead to negative communicative and social consequences. It can be associated with a range of conditions, including cleft lip or palate, velopharyngeal dysfunction (a physical or neurological defective closure of the soft palate that regulates resonance between the oral and nasal cavity), dysarthria, or hearing impairment, and can also be an early indicator of developing neurological disorders such as ALS. Hypernasality is typically scored perceptually by a Speech Language Pathologist (SLP). Misdiagnosis could lead to inadequate treatment plans and poor treatment outcomes for a patient. Also, for some applications, particularly screening for early neurological disorders, the use of an SLP is not practical. Hence this work demonstrates a data-driven approach to objective assessment of hypernasality, through the use of Goodness of Pronunciation features. These features capture the overall precision of articulation of speaker on a phoneme-by-phoneme basis, allowing demonstrated models to achieve a Pearson correlation coefficient of 0.88 on low-nasality speakers, the population of most interest for this sort of technique. These results are comparable to milestone methods in this domain.
ContributorsSaxon, Michael Stephen (Author) / Berisha, Visar (Thesis director) / McDaniel, Troy (Committee member) / Electrical Engineering Program (Contributor, Contributor) / School of Mathematical and Statistical Sciences (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
In this paper, I will show that news headlines of global events can predict changes in stock price by using Machine Learning and eight years of data from r/WorldNews, a popular forum on Reddit.com. My data is confined to the top 25 daily posts on the forum, and due to the implicit filtering mechanism in the online community, these 25 posts are representative of the most popular news headlines and influential global events of the day. Hence, these posts shine a light on how large-scale social and political events affect the stock market. Using a Logistic Regression and a Naive Bayes classifier, I am able to predict with approximately 85% accuracy a binary change in stock price using term-feature vectors gathered from the news headlines. The accuracy, precision and recall results closely rival the best models in this field of research. In addition to the results, I will also describe the mathematical underpinnings of the two models; preceded by a general investigation of the intersection between the multiple academic disciplines related to this project. These range from social to computer science and from statistics to philosophy. The goal of this additional discussion is to further illustrate the interdisciplinary nature of the research and hopefully inspire a non-monolithic mindset when further investigations are pursued.
ContributorsPriniski, John Hunter (Author) / Haiyan, Wang (Thesis director) / Hazel, Kwon (Committee member) / School of Historical, Philosophical and Religious Studies (Contributor) / School of Mathematical and Statistical Sciences (Contributor) / Barrett, The Honors College (Contributor)
Created2016-12
Description
In the age of information, collecting and processing large amounts of data is an integral part of running a business. From training artificial intelligence to driving decision making, the applications of data are far-reaching. However, it is difficult to process many types of data; namely, unstructured data. Unstructured data is “information that either does not have a predefined data model or is not organized in a pre-defined manner” (Balducci & Marinova 2018). Such data are difficult to put into spreadsheets and relational databases due to their lack of numeric values and often come in the form of text fields written by the consumers (Wolff, R. 2020). The goal of this project is to help in the development of a machine learning model to aid CommonSpirit Health and ServiceNow, hence why this approach using unstructured data was selected. This paper provides a general overview of the process of unstructured data management and explores some existing implementations and their efficacy. It will then discuss our approach to converting unstructured cases into usable data that were used to develop an artificial intelligence model which is estimated to be worth $400,000 and save CommonSpirit Health $1,200,000 in organizational impact.
ContributorsBergsagel, Matteo (Author) / De Waard, Jan (Co-author) / Chavez-Echeagaray, Maria Elena (Thesis director) / Burns, Christopher (Committee member) / Barrett, The Honors College (Contributor) / School of Mathematical and Statistical Sciences (Contributor) / Computer Science and Engineering Program (Contributor)
Created2022-05
Description
Recent breakthroughs in Artificial Intelligence (AI) have brought the dream of developing and deploying complex AI systems that can potentially transform everyday life closer to reality than ever before. However, the growing realization that there might soon be people from all walks of life using and working with these systems has also spurred a lot of interest in ensuring that AI systems can efficiently and effectively work and collaborate with their intended users. Chief among the efforts in this direction has been the pursuit of imbuing these agents with the ability to provide intuitive and useful explanations regarding their decisions and actions to end-users. In this dissertation, I will describe various works that I have done in the area of explaining sequential decision-making problems. Furthermore, I will frame the discussions of my work within a broader framework for understanding and analyzing explainable AI (XAI). My works herein tackle many of the core challenges related to explaining automated decisions to users including (1) techniques to address asymmetry in knowledge between the user and the system, (2) techniques to address asymmetry in inferential capabilities, and (3) techniques to address vocabulary mismatch.The dissertation will also describe the works I have done in generating interpretable behavior and policy summarization. I will conclude this dissertation, by using the framework of human-aware explanation as a lens to analyze and understand the current landscape of explainable planning.
ContributorsSreedharan, Sarath (Author) / Kambhampati, Subbarao (Thesis advisor) / Kim, Been (Committee member) / Smith, David E (Committee member) / Srivastava, Siddharth (Committee member) / Zhang, Yu (Committee member) / Arizona State University (Publisher)
Created2022