Matching Items (119)
Description
Many real-world planning problems can be modeled as Markov Decision Processes (MDPs) which provide a framework for handling uncertainty in outcomes of action executions. A solution to such a planning problem is a policy that handles possible contingencies that could arise during execution. MDP solvers typically construct policies for a problem instance without re-using information from previously solved instances. Research in generalized planning has demonstrated the utility of constructing algorithm-like plans that reuse such information. However, using such techniques in an MDP setting has not been adequately explored.
This thesis presents a novel approach for learning generalized partial policies that can be used to solve problems with different object names and/or object quantities using very few example policies for learning. This approach uses abstraction for state representation, which allows the identification of patterns in solutions such as loops that are agnostic to problem-specific properties. This thesis also presents some theoretical results related to the uniqueness and succinctness of the policies computed using such a representation. The presented algorithm can be used as fast, yet greedy and incomplete method for policy computation while falling back to a complete policy search algorithm when needed. Extensive empirical evaluation on discrete MDP benchmarks shows that this approach generalizes effectively and is often able to solve problems much faster than existing state-of-art discrete MDP solvers. Finally, the practical applicability of this approach is demonstrated by incorporating it in an anytime stochastic task and motion planning framework to successfully construct free-standing tower structures using Keva planks.
This thesis presents a novel approach for learning generalized partial policies that can be used to solve problems with different object names and/or object quantities using very few example policies for learning. This approach uses abstraction for state representation, which allows the identification of patterns in solutions such as loops that are agnostic to problem-specific properties. This thesis also presents some theoretical results related to the uniqueness and succinctness of the policies computed using such a representation. The presented algorithm can be used as fast, yet greedy and incomplete method for policy computation while falling back to a complete policy search algorithm when needed. Extensive empirical evaluation on discrete MDP benchmarks shows that this approach generalizes effectively and is often able to solve problems much faster than existing state-of-art discrete MDP solvers. Finally, the practical applicability of this approach is demonstrated by incorporating it in an anytime stochastic task and motion planning framework to successfully construct free-standing tower structures using Keva planks.
ContributorsKala Vasudevan, Deepak (Author) / Srivastava, Siddharth (Thesis advisor) / Zhang, Yu (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2020
Description
Image super-resolution (SR) is a low-level image processing task, which has manyapplications such as medical imaging, satellite image processing, and video enhancement,
etc. Given a low resolution image, it aims to reconstruct a high resolution
image. The problem is ill-posed since there can be more than one high resolution
image corresponding to the same low-resolution image. To address this problem, a
number of machine learning-based approaches have been proposed.
In this dissertation, I present my works on single image super-resolution (SISR)
and accelerated magnetic resonance imaging (MRI) (a.k.a. super-resolution on MR
images), followed by the investigation on transfer learning for accelerated MRI reconstruction.
For the SISR, a dictionary-based approach and two reconstruction based
approaches are presented. To be precise, a convex dictionary learning (CDL)
algorithm is proposed by constraining the dictionary atoms to be formed by nonnegative
linear combination of the training data, which is a natural, desired property.
Also, two reconstruction-based single methods are presented, which make use
of (i)the joint regularization, where a group-residual-based regularization (GRR) and
a ridge-regression-based regularization (3R) are combined; (ii)the collaborative representation
and non-local self-similarity. After that, two deep learning approaches
are proposed, aiming at reconstructing high-quality images from accelerated MRI
acquisition. Residual Dense Block (RDB) and feedback connection are introduced
in the proposed models. In the last chapter, the feasibility of transfer learning for
accelerated MRI reconstruction is discussed.
etc. Given a low resolution image, it aims to reconstruct a high resolution
image. The problem is ill-posed since there can be more than one high resolution
image corresponding to the same low-resolution image. To address this problem, a
number of machine learning-based approaches have been proposed.
In this dissertation, I present my works on single image super-resolution (SISR)
and accelerated magnetic resonance imaging (MRI) (a.k.a. super-resolution on MR
images), followed by the investigation on transfer learning for accelerated MRI reconstruction.
For the SISR, a dictionary-based approach and two reconstruction based
approaches are presented. To be precise, a convex dictionary learning (CDL)
algorithm is proposed by constraining the dictionary atoms to be formed by nonnegative
linear combination of the training data, which is a natural, desired property.
Also, two reconstruction-based single methods are presented, which make use
of (i)the joint regularization, where a group-residual-based regularization (GRR) and
a ridge-regression-based regularization (3R) are combined; (ii)the collaborative representation
and non-local self-similarity. After that, two deep learning approaches
are proposed, aiming at reconstructing high-quality images from accelerated MRI
acquisition. Residual Dense Block (RDB) and feedback connection are introduced
in the proposed models. In the last chapter, the feasibility of transfer learning for
accelerated MRI reconstruction is discussed.
ContributorsDing, Pak Lun Kevin (Author) / Li, Baoxin (Thesis advisor) / Wu, Teresa (Committee member) / Wang, Yalin (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2020
Description
A complex social system, whether artificial or natural, can possess its macroscopic properties as a collective, which may change in real time as a result of local behavioral interactions among a number of agents in it. If a reliable indicator is available to abstract the macrolevel states, decision makers could use it to take a proactive action, whenever needed, in order for the entire system to avoid unacceptable states or con-verge to desired ones. In realistic scenarios, however, there can be many challenges in learning a model of dynamic global states from interactions of agents, such as 1) high complexity of the system itself, 2) absence of holistic perception, 3) variability of group size, 4) biased observations on state space, and 5) identification of salient behavioral cues. In this dissertation, I introduce useful applications of macrostate estimation in complex multi-agent systems and explore effective deep learning frameworks to ad-dress the inherited challenges. First of all, Remote Teammate Localization (ReTLo)is developed in multi-robot teams, in which an individual robot can use its local interactions with a nearby robot as an information channel to estimate the holistic view of the group. Within the problem, I will show (a) learning a model of a modular team can generalize to all others to gain the global awareness of the team of variable sizes, and (b) active interactions are necessary to diversify training data and speed up the overall learning process. The complexity of the next focal system escalates to a colony of over 50 individual ants undergoing 18-day social stabilization since a chaotic event. I will utilize this natural platform to demonstrate, in contrast to (b), (c)monotonic samples only from “before chaos” can be sufficient to model the panicked society, and (d) the model can also be used to discover salient behaviors to precisely predict macrostates.
ContributorsChoi, Taeyeong (Author) / Pavlic, Theodore (Thesis advisor) / Richa, Andrea (Committee member) / Ben Amor, Heni (Committee member) / Yang, Yezhou (Committee member) / Liebig, Juergen (Committee member) / Arizona State University (Publisher)
Created2020
Description
Languages, specially gestural and sign languages, are best learned in immersive environments with rich feedback. Computer-Aided Language Learning (CALL) solu- tions for spoken languages have successfully incorporated some feedback mechanisms, but no such solution exists for signed languages. Computer Aided Sign Language Learning (CASLL) is a recent and promising field of research which is made feasible by advances in Computer Vision and Sign Language Recognition(SLR). Leveraging existing SLR systems for feedback based learning is not feasible because their decision processes are not human interpretable and do not facilitate conceptual feedback to learners. Thus, fundamental research is needed towards designing systems that are modular and explainable. The explanations from these systems can then be used to produce feedback to aid in the learning process.
In this work, I present novel approaches for the recognition of location, movement and handshape that are components of American Sign Language (ASL) using both wrist-worn sensors as well as webcams. Finally, I present Learn2Sign(L2S), a chat- bot based AI tutor that can provide fine-grained conceptual feedback to learners of ASL using the modular recognition approaches. L2S is designed to provide feedback directly relating to the fundamental concepts of ASL using an explainable AI. I present the system performance results in terms of Precision, Recall and F-1 scores as well as validation results towards the learning outcomes of users. Both retention and execution tests for 26 participants for 14 different ASL words learned using learn2sign is presented. Finally, I also present the results of a post-usage usability survey for all the participants. In this work, I found that learners who received live feedback on their executions improved their execution as well as retention performances. The average increase in execution performance was 28% points and that for retention was 4% points.
In this work, I present novel approaches for the recognition of location, movement and handshape that are components of American Sign Language (ASL) using both wrist-worn sensors as well as webcams. Finally, I present Learn2Sign(L2S), a chat- bot based AI tutor that can provide fine-grained conceptual feedback to learners of ASL using the modular recognition approaches. L2S is designed to provide feedback directly relating to the fundamental concepts of ASL using an explainable AI. I present the system performance results in terms of Precision, Recall and F-1 scores as well as validation results towards the learning outcomes of users. Both retention and execution tests for 26 participants for 14 different ASL words learned using learn2sign is presented. Finally, I also present the results of a post-usage usability survey for all the participants. In this work, I found that learners who received live feedback on their executions improved their execution as well as retention performances. The average increase in execution performance was 28% points and that for retention was 4% points.
ContributorsPaudyal, Prajwal (Author) / Gupta, Sandeep (Thesis advisor) / Banerjee, Ayan (Committee member) / Hsiao, Ihan (Committee member) / Azuma, Tamiko (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2020
Description
Large organizations have multiple networks that are subject to attacks, which can be detected by continuous monitoring and analyzing the network traffic by Intrusion Detection Systems. Collaborative Intrusion Detection Systems (CIDS) are used for efficient detection of distributed attacks by having a global view of the traffic events in large networks. However, CIDS are vulnerable to internal attacks, and these internal attacks decrease the mutual trust among the nodes in CIDS required for sharing of critical and sensitive alert data in CIDS. Without the data sharing, the nodes of CIDS cannot collaborate efficiently to form a comprehensive view of events in the networks monitored to detect distributed attacks. The compromised nodes will further decrease the accuracy of CIDS by generating false positives and false negatives of the traffic event classifications. In this thesis, an approach based on a trust score system is presented to detect and suspend the compromised nodes in CIDS to improve the trust among the nodes for efficient collaboration. This trust score-based approach is implemented as a consensus model on a private blockchain because private blockchain has the features to address the accountability, integrity and privacy requirements of CIDS. In this approach, the trust scores of malicious nodes are decreased with every reported false negative or false positive of the traffic event classifications. When the trust scores of any node falls below a threshold, the node is identified as compromised and suspended. The approach is evaluated for the accuracy of identifying malicious nodes in CIDS.
ContributorsYenugunti, Chandralekha (Author) / Yau, Stephen S. (Thesis advisor) / Yang, Yezhou (Committee member) / Zou, Jia (Committee member) / Arizona State University (Publisher)
Created2020
Description
Hyperbolic geometry, which is a geometry which concerns itself with hyperbolic space, has caught the eye of certain circles in the machine learning community as of late. Lauded for its ability to encapsulate strong clustering as well as latent hierarchies in complex and social networks, hyperbolic geometry has proven itself to be an enduring presence in the network science community throughout the 2010s, with no signs of fading into obscurity anytime soon. Hyperbolic embeddings, which map a given graph to hyperbolic space, have particularly proven to be a powerful and dynamic tool for studying complex networks. Hyperbolic embeddings are exploited in this thesis to illustrate centrality in a graph. In network science, centrality quantifies the influence of individual nodes in a graph. Eigenvector centrality is one type of such measure, and assigns an influence weight to each node in a graph by solving for an eigenvector equation. A procedure is defined to embed a given network in a model of hyperbolic space, known as the Poincare disk, according to the influence weights computed by three eigenvector centrality measures: the PageRank algorithm, the Hyperlink-Induced Topic Search (HITS) algorithm, and the Pinski-Narin algorithm. The resulting embeddings are shown to accurately and meaningfully reflect each node's influence and proximity to influential nodes.
ContributorsChang, Alena (Author) / Xue, Guoliang (Thesis advisor) / Yang, Dejun (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2020
Description
Referring Expression Comprehension (REC) is an important area of research in Natural Language Processing (NLP) and vision domain. It involves locating an object in an image described by a natural language referring expression. This task requires information from both Natural Language and Vision aspect. The task is compositional in nature as it requires visual reasoning as underlying process along with relationships among the objects in the image. Recent works based on modular networks have
displayed to be an effective framework for performing visual reasoning task.
Although this approach is effective, it has been established that the current benchmark datasets for referring expression comprehension suffer from bias. Recent work on CLEVR-Ref+ dataset deals with bias issues by constructing a synthetic dataset
and provides an approach for the aforementioned task which performed better than the previous state-of-the-art models as well as showing the reasoning process. This work aims to improve the performance on CLEVR-Ref+ dataset and achieve comparable interpretability. In this work, the neural module network approach with the attention map technique is employed. The neural module network is composed of the primitive operation modules which are specific to their functions and the output is generated using a separate segmentation module. From empirical results, it is clear that this approach is performing significantly better than the current State-of-theart in one aspect (Predicted programs) and achieving comparable results for another aspect (Ground truth programs)
displayed to be an effective framework for performing visual reasoning task.
Although this approach is effective, it has been established that the current benchmark datasets for referring expression comprehension suffer from bias. Recent work on CLEVR-Ref+ dataset deals with bias issues by constructing a synthetic dataset
and provides an approach for the aforementioned task which performed better than the previous state-of-the-art models as well as showing the reasoning process. This work aims to improve the performance on CLEVR-Ref+ dataset and achieve comparable interpretability. In this work, the neural module network approach with the attention map technique is employed. The neural module network is composed of the primitive operation modules which are specific to their functions and the output is generated using a separate segmentation module. From empirical results, it is clear that this approach is performing significantly better than the current State-of-theart in one aspect (Predicted programs) and achieving comparable results for another aspect (Ground truth programs)
ContributorsRathor, Kuldeep Singh (Author) / Baral, Chitta (Thesis advisor) / Yang, Yezhou (Committee member) / Simeone, Michael (Committee member) / Arizona State University (Publisher)
Created2020
Description
Robot motion planning requires computing a sequence of waypoints from an initial configuration of the robot to the goal configuration. Solving a motion planning problem optimally is proven to be NP-Complete. Sampling-based motion planners efficiently compute an approximation of the optimal solution. They sample the configuration space uniformly and hence fail to sample regions of the environment that have narrow passages or pinch points. These critical regions are analogous to landmarks from planning literature as the robot is required to pass through them to reach the goal.
This work proposes a deep learning approach that identifies critical regions in the environment and learns a sampling distribution to effectively sample them in high dimensional configuration spaces.
A classification-based approach is used to learn the distributions. The robot degrees of freedom (DOF) limits are binned and a distribution is generated from sampling motion plan solutions. Conditional information like goal configuration and robot location encoded in the network inputs showcase the network learning to bias the identified critical regions towards the goal configuration. Empirical evaluations are performed against the state of the art sampling-based motion planners on a variety of tasks requiring the robot to pass through critical regions. An empirical analysis of robotic systems with three to eight degrees of freedom indicates that this approach effectively improves planning performance.
This work proposes a deep learning approach that identifies critical regions in the environment and learns a sampling distribution to effectively sample them in high dimensional configuration spaces.
A classification-based approach is used to learn the distributions. The robot degrees of freedom (DOF) limits are binned and a distribution is generated from sampling motion plan solutions. Conditional information like goal configuration and robot location encoded in the network inputs showcase the network learning to bias the identified critical regions towards the goal configuration. Empirical evaluations are performed against the state of the art sampling-based motion planners on a variety of tasks requiring the robot to pass through critical regions. An empirical analysis of robotic systems with three to eight degrees of freedom indicates that this approach effectively improves planning performance.
ContributorsSrinet, Abhyudaya (Author) / Srivastava, Siddharth (Thesis advisor) / Zhang, Yu (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2020
Description
There have been multiple attempts of coupling neural networks with external memory components for sequence learning problems. Such architectures have demonstrated success in algorithmic, sequence transduction, question-answering and reinforcement learning tasks. Most notable of these attempts is the Neural Turing Machine (NTM), which is an implementation of the Turing Machine with a neural network controller that interacts with a continuous memory. Although the architecture is Turing complete and hence, universally computational, it has seen limited success with complex real-world tasks.
In this thesis, I introduce an extension of the Neural Turing Machine, the Neural Harvard Machine, that implements a fully differentiable Harvard Machine framework with a feed-forward neural network controller. Unlike the NTM, it has two different memories - a read-only program memory and a read-write data memory. A sufficiently complex task is divided into smaller, simpler sub-tasks and the program memory stores parameters of pre-trained networks trained on these sub-tasks. The controller reads inputs from an input-tape, uses the data memory to store valuable signals and writes correct symbols to an output tape. The output symbols are a function of the outputs of each sub-network and the state of the data memory. Hence, the controller learns to load the weights of the appropriate program network to generate output symbols.
A wide range of experiments demonstrate that the Harvard Machine framework learns faster and performs better than the NTM and RNNs like LSTM, as the complexity of tasks increases.
In this thesis, I introduce an extension of the Neural Turing Machine, the Neural Harvard Machine, that implements a fully differentiable Harvard Machine framework with a feed-forward neural network controller. Unlike the NTM, it has two different memories - a read-only program memory and a read-write data memory. A sufficiently complex task is divided into smaller, simpler sub-tasks and the program memory stores parameters of pre-trained networks trained on these sub-tasks. The controller reads inputs from an input-tape, uses the data memory to store valuable signals and writes correct symbols to an output tape. The output symbols are a function of the outputs of each sub-network and the state of the data memory. Hence, the controller learns to load the weights of the appropriate program network to generate output symbols.
A wide range of experiments demonstrate that the Harvard Machine framework learns faster and performs better than the NTM and RNNs like LSTM, as the complexity of tasks increases.
ContributorsBhatt, Manthan Bharat (Author) / Ben Amor, Hani (Thesis advisor) / Zhang, Yu (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2020
Description
Internet memes have become a widespread tool used by people for interacting and exchanging ideas over social media, blogs, and open messengers. Internet memes most commonly take the form of an image which is a combination of image, text, and humor, making them a powerful tool to deliver information. Image memes are used in viral marketing and mass advertising to propagate any ideas ranging from simple commercials to those that can cause changes and development in the social structures like countering hate speech.
This work proposes to treat automatic image meme generation as a translation process, and further present an end to end neural and probabilistic approach to generate an image-based meme for any given sentence using an encoder-decoder architecture. For a given input sentence, a meme is generated by combining a meme template image and a text caption where the meme template image is selected from a set of popular candidates using a selection module and the meme caption is generated by an encoder-decoder model. An encoder is used to map the selected meme template and the input sentence into a meme embedding space and then a decoder is used to decode the meme caption from the meme embedding space. The generated natural language caption is conditioned on the input sentence and the selected meme template.
The model learns the dependencies between the meme captions and the meme template images and generates new memes using the learned dependencies. The quality of the generated captions and the generated memes is evaluated through both automated metrics and human evaluation. An experiment is designed to score how well the generated memes can represent popular tweets from Twitter conversations. Experiments on Twitter data show the efficacy of the model in generating memes capable of representing a sentence in online social interaction.
This work proposes to treat automatic image meme generation as a translation process, and further present an end to end neural and probabilistic approach to generate an image-based meme for any given sentence using an encoder-decoder architecture. For a given input sentence, a meme is generated by combining a meme template image and a text caption where the meme template image is selected from a set of popular candidates using a selection module and the meme caption is generated by an encoder-decoder model. An encoder is used to map the selected meme template and the input sentence into a meme embedding space and then a decoder is used to decode the meme caption from the meme embedding space. The generated natural language caption is conditioned on the input sentence and the selected meme template.
The model learns the dependencies between the meme captions and the meme template images and generates new memes using the learned dependencies. The quality of the generated captions and the generated memes is evaluated through both automated metrics and human evaluation. An experiment is designed to score how well the generated memes can represent popular tweets from Twitter conversations. Experiments on Twitter data show the efficacy of the model in generating memes capable of representing a sentence in online social interaction.
ContributorsSadasivam, Aadhavan (Author) / Yang, Yezhou (Thesis advisor) / Baral, Chitta (Committee member) / Davulcu, Hasan (Committee member) / Arizona State University (Publisher)
Created2020