Lecture

HMM - Applications to Robotics

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In course

MICRO-455: Machine learning I

Real-world engineering applications must cope with a large dataset of dynamic variables, which cannot be well approximated by classical or deterministic models. This course gives an overview of methods from Machine Learning for the analysis of non-linear, highly noisy and multi dimensional data

Description

This lecture covers the Bayesian extension of Hidden Markov Models (HMM) to automatically segment and model sequences of actions in robots trained for cooking tasks. It discusses the limitations of classical finite HMMs for segmentation, the use of Bayesian Non-Parametrics for HMMs, and the Hierarchical Dirichlet Process prior on the transition matrix. The lecture also explores the segmentation of continuous motion capture data into motion categories and the learning of complex sequential tasks from demonstration, using a pizza dough rolling case study.

Instructor

Aude Billard

Expertise RoboticsMachine LearningArtificial IntelligenceHuman-Robot InteractionMechatronicsDynamical Systems ControlComputational Neuroscience Aude Billard is full professor and head of the LASA laboratory at the School of Engineering at the Swiss Institute of Technology Lausanne (EPFL), and the Director of the Swiss Innovation Booster on Robotics. Dr. Billard acts as the President of the IEEE Robotics and Automation Society (RAS), after serving in several roles in the administrative and executive committe

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Related concepts (30)

Markov model

In probability theory, a Markov model is a stochastic model used to model pseudo-randomly changing systems. It is assumed that future states depend only on the current state, not on the events that occurred before it (that is, it assumes the Markov property). Generally, this assumption enables reasoning and computation with the model that would otherwise be intractable. For this reason, in the fields of predictive modelling and probabilistic forecasting, it is desirable for a given model to exhibit the Markov property.

Markov chain

A Markov chain or Markov process is a stochastic model describing a sequence of possible events in which the probability of each event depends only on the state attained in the previous event. Informally, this may be thought of as, "What happens next depends only on the state of affairs now." A countably infinite sequence, in which the chain moves state at discrete time steps, gives a discrete-time Markov chain (DTMC). A continuous-time process is called a continuous-time Markov chain (CTMC).

Markov property

In probability theory and statistics, the term Markov property refers to the memoryless property of a stochastic process, which means that its future evolution is independent of its history. It is named after the Russian mathematician Andrey Markov. The term strong Markov property is similar to the Markov property, except that the meaning of "present" is defined in terms of a random variable known as a stopping time. The term Markov assumption is used to describe a model where the Markov property is assumed to hold, such as a hidden Markov model.

Markov information source

In mathematics, a Markov information source, or simply, a Markov source, is an information source whose underlying dynamics are given by a stationary finite Markov chain. An information source is a sequence of random variables ranging over a finite alphabet , having a stationary distribution. A Markov information source is then a (stationary) Markov chain , together with a function that maps states in the Markov chain to letters in the alphabet .

Dirichlet distribution

In probability and statistics, the Dirichlet distribution (after Peter Gustav Lejeune Dirichlet), often denoted , is a family of continuous multivariate probability distributions parameterized by a vector of positive reals. It is a multivariate generalization of the beta distribution, hence its alternative name of multivariate beta distribution (MBD). Dirichlet distributions are commonly used as prior distributions in Bayesian statistics, and in fact, the Dirichlet distribution is the conjugate prior of the categorical distribution and multinomial distribution.

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Introduces Hidden Markov Models, explaining the basic problems and algorithms like Forward-Backward, Viterbi, and Baum-Welch, with a focus on Expectation-Maximization.

Hidden Markov Models (HMM): Theory

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Markov Chains and Algorithm Applications

Covers Markov chains and their applications in algorithms, focusing on Markov Chain Monte Carlo sampling and the Metropolis-Hastings algorithm.

Markov Chains and Algo Applications

Covers Markov chains, Metropolis algorithm, Glauber dynamics, and heat bath dynamics.

Tagging (a.k.a. Sequence labeling)