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- All Subjects: Gaussian processes
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- Genre: Academic theses
- Genre: Doctoral Dissertation
- Creators: Biswas, Upasana
- Status: Published
Description
In this work, I propose to bridge the gap between human users and adaptive control of robotic systems. The goal is to enable robots to consider user feedback and adjust their behaviors. A critical challenge with designing such systems is that users are often non-experts, with limited knowledge about the robot's hardware and dynamics. In the domain of human-robot interaction, there exist different modalities of conveying information regarding the desired behavior of the robot, most commonly used are demonstrations, and preferences. While it is challenging for non-experts to provide demonstrations of robot behavior, works that consider preferences expressed as trajectory rankings lead to users providing noisy and possibly conflicting information, leading to slow adaptation or system failures. The end user can be expected to be familiar with the dynamics and how they relate to their desired objectives through repeated interactions with the system. However, due to inadequate knowledge about the system dynamics, it is expected that the user would find it challenging to provide feedback on all dimension's of the system's behavior at all times. Thus, the key innovation of this work is to enable users to provide partial instead of completely specified preferences as with traditional methods that learn from user preferences. In particular, I consider partial preferences in the form of preferences over plant dynamic parameters, for which I propose Adaptive User Control (AUC) of robotic systems. I leverage the correlations between the observed and hidden parameter preferences to deal with incompleteness. I use a sparse Gaussian Process Latent Variable Model formulation to learn hidden variables that represent the relationships between the observed and hidden preferences over the system parameters. This model is trained using Stochastic Variational Inference with a distributed loss formulation. I evaluate AUC in a custom drone-swarm environment and several domains from DeepMind control suite. I compare AUC with the state-of-the-art preference-based reinforcement learning methods that are utilized with user preferences. Results show that AUC outperforms the baselines substantially in terms of sample and feedback complexity.
ContributorsBiswas, Upasana (Author) / Zhang, Yu (Thesis advisor) / Kambhampati, Subbarao (Committee member) / Berman, Spring (Committee member) / Liu, Lantao (Committee member) / Arizona State University (Publisher)
Created2023
Description
Spatial regression is one of the central topics in spatial statistics. Based on the goals, interpretation or prediction, spatial regression models can be classified into two categories, linear mixed regression models and nonlinear regression models. This dissertation explored these models and their real world applications. New methods and models were proposed to overcome the challenges in practice. There are three major parts in the dissertation.
In the first part, nonlinear regression models were embedded into a multistage workflow to predict the spatial abundance of reef fish species in the Gulf of Mexico. There were two challenges, zero-inflated data and out of sample prediction. The methods and models in the workflow could effectively handle the zero-inflated sampling data without strong assumptions. Three strategies were proposed to solve the out of sample prediction problem. The results and discussions showed that the nonlinear prediction had the advantages of high accuracy, low bias and well-performed in multi-resolution.
In the second part, a two-stage spatial regression model was proposed for analyzing soil carbon stock (SOC) data. In the first stage, there was a spatial linear mixed model that captured the linear and stationary effects. In the second stage, a generalized additive model was used to explain the nonlinear and nonstationary effects. The results illustrated that the two-stage model had good interpretability in understanding the effect of covariates, meanwhile, it kept high prediction accuracy which is competitive to the popular machine learning models, like, random forest, xgboost and support vector machine.
A new nonlinear regression model, Gaussian process BART (Bayesian additive regression tree), was proposed in the third part. Combining advantages in both BART and Gaussian process, the model could capture the nonlinear effects of both observed and latent covariates. To develop the model, first, the traditional BART was generalized to accommodate correlated errors. Then, the failure of likelihood based Markov chain Monte Carlo (MCMC) in parameter estimating was discussed. Based on the idea of analysis of variation, back comparing and tuning range, were proposed to tackle this failure. Finally, effectiveness of the new model was examined by experiments on both simulation and real data.
In the first part, nonlinear regression models were embedded into a multistage workflow to predict the spatial abundance of reef fish species in the Gulf of Mexico. There were two challenges, zero-inflated data and out of sample prediction. The methods and models in the workflow could effectively handle the zero-inflated sampling data without strong assumptions. Three strategies were proposed to solve the out of sample prediction problem. The results and discussions showed that the nonlinear prediction had the advantages of high accuracy, low bias and well-performed in multi-resolution.
In the second part, a two-stage spatial regression model was proposed for analyzing soil carbon stock (SOC) data. In the first stage, there was a spatial linear mixed model that captured the linear and stationary effects. In the second stage, a generalized additive model was used to explain the nonlinear and nonstationary effects. The results illustrated that the two-stage model had good interpretability in understanding the effect of covariates, meanwhile, it kept high prediction accuracy which is competitive to the popular machine learning models, like, random forest, xgboost and support vector machine.
A new nonlinear regression model, Gaussian process BART (Bayesian additive regression tree), was proposed in the third part. Combining advantages in both BART and Gaussian process, the model could capture the nonlinear effects of both observed and latent covariates. To develop the model, first, the traditional BART was generalized to accommodate correlated errors. Then, the failure of likelihood based Markov chain Monte Carlo (MCMC) in parameter estimating was discussed. Based on the idea of analysis of variation, back comparing and tuning range, were proposed to tackle this failure. Finally, effectiveness of the new model was examined by experiments on both simulation and real data.
ContributorsLu, Xuetao (Author) / McCulloch, Robert (Thesis advisor) / Hahn, Paul (Committee member) / Lan, Shiwei (Committee member) / Zhou, Shuang (Committee member) / Saul, Steven (Committee member) / Arizona State University (Publisher)
Created2020