For a safe, natural and effective human-robot social interaction, it is essential to develop a system that allows a robot to demonstrate the perceivable responsive behaviors to complex human behaviors. We introduce the Multimodal Deep Attention Recurrent Q-Network using which the robot exhibits human-like social intera…
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48 results for “human-robot interaction”
To coordinate actions with an interaction partner requires a constant exchange of sensorimotor signals. Humans acquire these skills in infancy and early childhood mostly by imitation learning and active engagement with a skilled partner. They require the ability to predict and adapt to one's partner during an interacti…
Assistive robots can potentially improve the quality of life and personal independence of elderly people by supporting everyday life activities. To guarantee a safe and intuitive interaction between human and robot, human intentions need to be recognized automatically. As humans communicate their intentions multimodall…
Cooperative communication plays a central role in theories of human cognition, language, development, culture, and human-robot interaction. Prior models of cooperative communication are algorithmic in nature and do not shed light on why cooperation may yield effective belief transmission and what limitations may arise …
Robot learns from human demonstrations to work autonomously.
problem Leveraging human and robotic strengths in human-robot systems.
method Bayesian inference for detecting and classifying human heterogeneity.
result Bayesian approach outperforms conventional methods by up to 12.8.
Learning preferences implicit in the choices humans make is a well studied problem in both economics and computer science. However, most work makes the assumption that humans are acting (noisily) optimally with respect to their preferences. Such approaches can fail when people are themselves learning about what they wa…
Human behavior expression and experience are inherently multi-modal, and characterized by vast individual and contextual heterogeneity. To achieve meaningful human-computer and human-robot interactions, multi-modal models of the users states (e.g., engagement) are therefore needed. Most of the existing works that try t…
This article provides the first survey of computational models of emotion in reinforcement learning (RL) agents. The survey focuses on agent/robot emotions, and mostly ignores human user emotions. Emotions are recognized as functional in decision-making by influencing motivation and action selection. Therefore, computa…
Object tracking is an ubiquitous problem that appears in many applications such as remote sensing, audio processing, computer vision, human-machine interfaces, human-robot interaction, etc. Although thoroughly investigated in computer vision, tracking a time-varying number of persons remains a challenging open problem.…
This thesis tackles learning reward functions from human comparative feedback.
problem Designing reward functions for complex tasks is challenging and humans often provide suboptimal demonstrations.
method Proposes learning reward functions from comparative feedback (pairwise comparisons, best-of-many choices, rankings, scaled comparisons) and active learning techniques.
result Demonstrates the effectiveness of learning reward functions from comparative feedback in various domains.
Robot-assisted dressing offers an opportunity to benefit the lives of many people with disabilities, such as some older adults. However, robots currently lack common sense about the physical implications of their actions on people. The physical implications of dressing are complicated by non-rigid garments, which can r…
New modeling approach for self-organizing complex systems.
problem Identifying general principles of self-organizing complex systems.
method Self-deploying system structure and activities for goal-driven agents.
result Self-organization emerges from rational activity algorithm based on goals dependency network.
Successful human-robot cooperation hinges on each agent's ability to process and exchange information about the shared environment and the task at hand. Human communication is primarily based on symbolic abstractions of object properties, rather than precise quantitative measures. A comprehensive robotic framework thus…
In recent years, a myriad of advanced results have been reported in the community of imitation learning, ranging from parametric to non-parametric, probabilistic to non-probabilistic and Bayesian to frequentist approaches. Meanwhile, ample applications (e.g., grasping tasks and human-robot collaborations) further show …
New methods detect objects in industrial settings with little training data.
problem Lack of training data limits object detection in industrial settings.
method Adapted Faster R-CNN and Scaled Yolov4-p5 architectures for small training data.
result Both models can distinguish unknown objects from homogeneous backgrounds.
Partner-aware algorithms improve AI collaboration in multi-agent settings.
problem Improving AI cooperation in teams with shared rewards.
method Proposed Partner-Aware strategy extending Upper Confidence Bound for decentralized MAB.
result Achieves logarithmic regret in collaborative decision-making.
Paper addresses hypothesis space misspecification in learning from human demonstrations and corrections.
problem Hypothesis space misspecification in learning from human demonstrations and corrections.
method Reason explicitly about how well the robot can explain human inputs given its hypothesis space.
result Demonstrates method on a 7 DOF robot manipulator.
Surrogate-based analysis of interactions via local effect smooths
problem Detecting and characterizing feature interactions in machine learning models
method Surrogate-based analysis using generalized additive models
result Empirical validation of effectiveness for pairwise interactions
Factorization Machine (FM) is a widely used supervised learning approach by effectively modeling of feature interactions. Despite the successful application of FM and its many deep learning variants, treating every feature interaction fairly may degrade the performance. For example, the interactions of a useless featur…
A new method detects interactions in neural networks using topological analysis.
problem Detecting interactions between input features in neural networks.
method Topological analysis of neural network connectivity to quantify interaction strength.
result The PID algorithm outperforms state-of-the-art baselines in interaction detection tasks.
iKF method uncovers complex variable interactions for scientific discovery.
problem Limited interpretability of existing models in decision-making applications.
method Iterative Kings' Forests (iKF) method to uncover multi-order interactions.
result iKF provides strong interpretive power for explainable modeling.
Joint Interaction and Trajectory Prediction for Autonomous Driving using Graph Neural Networksstat.ML
Graph neural network predicts vehicle interactions and trajectories for autonomous driving.
problem Predicting future motion of vehicles in traffic scenes.
method Graph neural network that jointly predicts interaction modes and 5-second future trajectories.
result Jointly predicting trajectories and interaction modes leads to lower trajectory error.
A graph neural network detects beneficial feature interactions for recommender systems.
problem Feature interactions are crucial but not all are beneficial for recommendation accuracy.
method Graph neural network with L0 activation regularization for edge prediction.
result The model outperforms baselines and automatically identifies beneficial feature interactions.
Inference of time-ordered multibody interactionsphysics.soc-ph
We describe and extract time-ordered multibody interactions from complex systems.
problem Complex systems with temporal and multibody dependencies.
method Decompose multivariate Markov chains into time-ordered multibody interactions. Algorithm to extract interactions from data. Measure complexity of interaction ensembles.
result Robust and efficient algorithm to infer time-ordered multibody interactions from data.
Dropout regularizes against high-order interactions by canceling interaction rates.
problem Overfitting to high-order interactions in neural networks.
method Analyzes Dropout through the lens of interaction effects, showing how it effectively cancels out the probability of surviving interactions of different orders.
result Dropout regularizes against high-order interactions by effectively canceling out the probability of surviving interactions of different orders.
Understanding how features interact with each other is of paramount importance in many scientific discoveries and contemporary applications. Yet interaction identification becomes challenging even for a moderate number of covariates. In this paper, we suggest an efficient and flexible procedure, called the interaction …
Multitask Gaussian process (MTGP) is powerful for joint learning of multiple tasks with complicated correlation patterns. However, due to the assembling of additive independent latent functions, all current MTGPs including the salient linear model of coregionalization (LMC) and convolution frameworks cannot effectively…
SocialInteractionGAN generates realistic human interactions from low-dimensional data.
problem Generating realistic human interactions from limited data.
method Adversarial architecture with a recurrent encoder-decoder generator and dual-stream discriminator.
result SocialInteractionGAN produces high-quality action sequences of interacting people.
A new method detects interactions in machine learning models.
problem Interpreting non-linear and interaction effects in machine learning models.
method Regional effect plots with implicit interaction detection.
result The method quantifies and interprets feature effects reliably, less confounded by interactions.
xDeepInt learns both vector-wise and bit-wise feature interactions.
problem Learning feature interactions for CTR prediction and recommendation.
method Polynomial Interaction Network (PIN) architecture with subspace-crossing mechanism.
result xDeepInt outperforms state-of-the-art models in CTR prediction and recommendation.
InteractE: Improving Convolution-based Knowledge Graph Embeddings by Increasing Feature Interactionscs.LG
Most existing knowledge graphs suffer from incompleteness, which can be alleviated by inferring missing links based on known facts. One popular way to accomplish this is to generate low-dimensional embeddings of entities and relations, and use these to make inferences. ConvE, a recently proposed approach, applies convo…
This study explores how feature graphs enhance GNNs' performance in modeling interactions.
problem Improving GNNs' ability to model feature interactions effectively.
method Investigates feature graphs and their importance in GNNs, using experiments and theoretical support.
result Edges between interacting features are crucial for GNNs, while non-interaction edges can degrade performance.
Interpreting neural networks is a crucial and challenging task in machine learning. In this paper, we develop a novel framework for detecting statistical interactions captured by a feedforward multilayer neural network by directly interpreting its learned weights. Depending on the desired interactions, our method can a…
We introduce interactive structure discovery, a generic framework that encompasses many interactive learning settings, including active learning, top-k item identification, interactive drug discovery, and others. We adapt a recently developed active learning algorithm of Tosh and Dasgupta (2017) for interactive structu…
Paper introduces IC-index to evaluate interaction prediction methods.
problem Evaluate interaction prediction methods using IC-index.
method IC-index measures interaction direction prediction performance.
result IC-index complements existing prediction performance estimators.
This paper uses Gaussian mixtures to mimic interactions in large language models.
problem Simulating interactions in large language models (LLMs) is computationally expensive.
method Developed an interacting Gaussian mixture model (GMM) system to mimic LLM interactions.
result The interacting Gaussian mixture model system can generate, exchange, and update data and parameters efficiently.
Study reveals self-attention's role in learning and generalizing interactions.
problem Understanding self-attention's theoretical role in neural architectures.
method Interacting entities analysis, including multi-agent RL and genetic sequences.
result Self-attention efficiently represents, learns, and generalizes pairwise interactions.
Archipelago provides interpretable explanations of feature interactions in machine learning models.
problem Interpreting the impact of feature interactions on predictions in machine learning models.
method Archipelago is a novel framework for extracting and attributing feature interactions in a scalable and interpretable manner.
result Archipelago provides significantly more interpretable explanations of feature interactions than comparable methods.
Automated tests detect interactions in unstructured data.
problem Detecting interactions between latent variables in low-dimensional systems.
method Derive two interaction tests based on pairwise interventions and integrate them into an active learning pipeline.
result Tests can identify more known biological interactions than random search and standard active learning baselines.
We study the power of interactivity in local differential privacy. First, we focus on the difference between fully interactive and sequentially interactive protocols. Sequentially interactive protocols may query users adaptively in sequence, but they cannot return to previously queried users. The vast majority of exist…
PIN models feature interactions using a neural network that mimics decision trees.
problem Modeling feature interactions in tabular data for predictive modeling.
method Tree-like Pairwise Interaction Network (PIN) architecture that captures pairwise feature interactions through a shared feed-forward neural network.
result PIN outperforms traditional and modern neural networks benchmarks in predictive accuracy.
The paper explains DNNs by quantifying interactions among input variables.
problem Understanding and explaining the complex behavior of deep neural networks.
method The paper defines and quantifies the significance of interactions among multiple input variables using the Shapley value.
result The proposed method effectively explains the behavior of DNNs by assigning attribution values to input variables.
Modeling continuous movement of entities in latent space for interaction timing.
problem Analyzing timing and frequency of instantaneous interactions.
method Latent position model with continuous trajectories.
result Individual trajectories estimated from interaction data.
The paper improves dropout's utility by reducing interactions in deep neural networks.
problem Over-fitting problem in deep learning.
method Game-theoretic interactions analysis and interaction loss.
result Interaction loss improves dropout's utility and boosts DNN performance.
Interactions in information spread: quantification and interpretation using stochastic block modelscs.LG
New model quantifies interactions' role in real-world phenomena.
problem Understanding the role of interactions in real-world phenomena.
method Interactive Mixed Membership Stochastic Block Model (IMMSBM).
result Interactions significantly improve model predictive power.
MEI model improves knowledge graph completion by efficiently modeling interactions between embeddings.
problem Efficiently modeling interactions between knowledge graph embeddings to predict missing links.
method MEI divides embeddings into partitions and uses Tucker and block term formats to model interactions efficiently.
result Achieves state-of-the-art performance on link prediction tasks.
Paper proposes FINN for better CTR prediction by modeling feature interactions.
problem Improving CTR prediction in advertising and recommendation systems.
method Proposes Feature Interaction based Neural Network (FINN) to model feature interactions.
result FINN outperforms other deep models in CTR prediction tasks.
On Many Body System Interactionscond-mat.quant-gas
We discuss possible relationships between geometric and topological interactions on one side and physical interactions on the other side.