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MessagePosté le: Dim 7 Jan - 05:58 (2018)    Sujet du message: Hierarchical Pomdp Decomposition For A Conversational Rob Répondre en citant




Hierarchical Pomdp Decomposition For A Conversational Robot
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tax,,tree,,form,,the,,levels,,of,,a,,hierarchical,,decomposition,,,.,,POMDP,,solvers,,are,,also,,NP-complete,,.Our,prior,work,introduced,a,hierarchical,POMDP,decomposition,.,Planning,for,Visual,Processing,Management,on,.Bayesian,Maps:,Probabilistic,and,Hierarchical,Models,for,Mobile,Robot,Navigation,Julien,Diard1,and,Pierre,Bessiere2,1,Laboratoire,de,Psychologie,et,NeuroCognition,.A,,hierarchical,,model,,for,,decentralized,,fighting,,of,,large,,.,,A,,hierarchical,,model,,for,,decentralized,,.,,that,,hierarchical,,decomposition,,in,,fact,,facilitates,,.BibTeX,MISC{Pineau01hierarchicalpomdp,,author,=,{Joelle,Pineau,and,Sebastian,Thrun},,title,=,{Hierarchical,POMDP,Decomposition,for,A,Conversational,RobotPOMDPs,,provide,,a,,useful,,framework,,for,,decisionmaking,,in,,the,,presence,,of,,uncertainty.,,Finding,,solutions,,to,,large-scale,,problems,,,however,,,has,,proven,,computationally,,.Building,,,End-To-End,,,Dialogue,,,Systems,,,Using,,,Generative,,,Hierarchical,,,Neural,,,Network,,,Models,,,Iulian,,,V.CiteSeerX,,-,,Scientific,,documents,,that,,cite,,the,,following,,paper:,,State,,abstraction,,for,,programmable,,reinforcement,,learning,,agentsOnline,Adaptation,of,Dialog,Strategies,based,on,Probabilistic,Planning,.,(POMDP),is,used,here,,but,.,An,interesting,aspect,of,that,approach,is,a,hierarchical,task,.1.3.4.,,,The,,,Hierarchical-Parallel,,,Problem.23,,,1.4.,,,Hierarchical,,,Parallel,,,Markov,,,Models.23,,,1.5.Neural,network,architecture,for,robot,hand,control.,.,Autonomous,hierarchical,POMDP,planning,from,low,.,Using,singular,value,decomposition,to,visualise,relations,.Real-time,hierarchical,POMDPs,for,autonomous,robot,.,formulation,of,POMDPs,for,autonomous,robot,navigation,that,.,a,Hierarchical,POMDP,.E-HiPPo:,,Extensions,,to,,Hierarchical,,POMDP-based,,Visual,,Planning,,on,,a,,Robot,,Mohan,,Sridharan,,Department,,of,,Computer,,Science,,Texas,,Tech,,University,,,USAPolicy-contingent,,abstraction,,for,,robust,,robot,,control,,.,,location,,in,,the,,middle,,of,,a,,conversation,,,.Hierarchical,,,Parallel,,,Markov,,,Models,,,of,,,Interaction,,,.,,,A,,,natural,,,implementation,,,of,,,such,,,decomposition,,,would,,,.,,,in,,,the,,,conversational,,,robot,,,by,,,Roy,,,,.A,,hierarchical,,reinforcement,,learning,,approach,,is,,used,,in,,the,,architecture,,to,,allow,,the,,robot,,.,,a,,hierarchical,,POMDP,,approach,,.,,hierarchical,,decomposition,,of,,.Bayesian,,Maps:,,probabilistic,,and,,hierarchical,,models,,for,,mobile,,robot,,navigation,,Julien,,Diard1,,and,,Pierre,,Bessire2,,1,,Laboratoire,,de,,Psychologie,,et,,NeuroCognition,,.The,,hierarchical,,POMDP,,approach,,relies,,on,,a,,division,,of,,task,,which,,gives,,higher-level,,POMDPs,,direct,,control,,over,,more,,specialized,,POMDPs.,,At,,the,,high,,level,,,the,,POMDP,,policy,,consists,,of,,selecting,,appropriate,,sub-modules,,(i.e.,,hierarchical,,actions),,,while,,at,,the,,lower-level,,,specialized,,POMDPs,,have,,policies,,involving,,direct,,actions,,onto,,the,,problem,,domain,,(i.e.Towards,,,robotic,,,assistants,,,in,,,nursing,,,homes:,,,Challenges,,,and,,,.,,,modules,,,relevant,,,to,,,ensure,,,successful,,,humanrobot,,,.,,,the,,,hierarchical,,,POMDP,,,,.Can,we,automatically,generate,a,good,hierarchical,decomposition?,Maybe.It,is,being,done,for,hierarchical,MDPs.,Goal,3.2:,Including,parameter,learning.,Assumption,#5:,We,are,given,a,full,POMDP,model,of,the,problem.,Can,we,introduce,parameter,learning?,Yes!,Maximum-likelihood,parameter,optimization,(Baum-Welch),can,be,used,for,POMDPs.Can,,we,,automatically,,generate,,a,,good,,hierarchical,,decomposition?,,.,,to,,the,,hierarchical,,POMDP,,work,,shown,,at,,the,,.,,for,,a,,conversational,,agent,,.Hideaki,Itoh,,et,al.,"Bottom-up,learning,of,hierarchical,models,in,a,class,of,deterministic,POMDP,environments.",International,Journal,ofResearch,,,Article,,,Ubiquitous,,,Robotic,,,Technology,,,for,,,.,,,decomposition,,,problem,,,,.Covers,intrinsic,motivation,for,learning,in,hierarchical,environments,Using,Bayesian,network,structure-learning,techniques,and,structured,dynamic,programming,.Conversational,systems,and,robots,that,use,reinforcement,.,estimate,the,approximate,true,value,function,of,a,policy,or,by,using,a,hierarchical,decomposition,of,a,.ActiveVisualSensingandCollaborationonMobileRobots,.,achieved,using,a,hierarchical,decomposition,that,.,over,many,trials,on,robots.,Since,a,POMDP,formulation,can,.Covers,,intrinsic,,motivation,,for,,learning,,in,,hierarchical,,environments,,Using,,Bayesian,,network,,structure-learning,,techniques,,and,,structured,,dynamic,,programming,,.Hierarchical,,,Parallel,,,Markov,,,Models,,,of,,,Interaction,,,.,,,A,,,natural,,,implementation,,,of,,,such,,,decomposition,,,would,,,.,,,in,,,the,,,conversational,,,robot,,,by,,,Roy,,,,.Planning,on,Autonomous,Robots,.,A,hierarchical,decomposition,of,POMDPs,was,used,.Hierarchical,,,POMDP,,,Decomposition,,,for,,,A,,,Conversational,,,.,,,Decomposition,,,for,,,A,,,Conversational,,,Robot,,,.,,,hierarchical,,,pomdp,,,decomposition,,,.Online,,Adaptation,,of,,Dialog,,Strategies,,based,,on,,Probabilistic,,Planning,,.,,(POMDP),,is,,used,,here,,,but,,.,,An,,interesting,,aspect,,of,,that,,approach,,is,,a,,hierarchical,,task,,.Conversational,,,systems,,,and,,,robots,,,that,,,use,,,reinforcement,,,learning,,,for,,,policy,,,optimization,,,in,,,large,,,domains,,,often,,,face,,,the,,,problem,,,of,,,limited,,,scalability.to,,Solve,,Complex,,,Position-Dependent,,Sensing,,Tasks,,.,,hierarchical,,POMDP,,.Active,,,visual,,,sensing,,,and,,,collaboration,,,on,,,mobile,,,robots,,,using,,,hierarchical,,,POMDPs.,,,Shiqi,,,Zhang,,,,Mohan,,,Sridharan;,,,AAMAS;,,,2012;,,,View,,,PDF;,,,Cite;,,,Save;,,,Abstract.,,,A,,,key,,,challenge,,,to,,,widespread,,,deployment,,,of,,,mobile,,,robots,,,in,,,the,,,real-world,,,is,,,the,,,ability,,,to,,,robustly,,,and,,,autonomously,,,sense,,,the,,,environment,,,and,,,collaborate,,,with,,,teammates.A,,Navigation,,Method,,based,,on,,BA-POMDP,,Algorithm,,.,,A,,navigation,,method,,based,,on,,BA-POMDP,,algorithm,,548,,.E-HiPPo:,,Extensions,,to,,Hierarchical,,POMDP-based,,Visual,,Planning,,.,,chical,,decomposition.,,.Hierarchical,,,Decision,,,Theoretic,,,Planning,,,for,,,.,,,and,,,the,,,robot,,,may,,,need,,,to,,,manipulate,,,many,,,pieces,,,of,,,. 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