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Learning = Social (software) Robotics
M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 2/25
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2/25
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Social Robotics in Knowledge
Rebot
(careless)
Input
Human
Human
{structure}
(pinpoint)
Select
Browse
(or use otherwise)
Some
Knowledge
(folksonomies,
knowledge bases,
databases, indexes,
ontologies, etc.)
(metromaps )
07 myself+0 "On Context Management Using Metro Maps" SOCA, Matsue, Japan (2014)
M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 3/25
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3/25
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Metromap: The Basic Concept
07 myself+0 "On Context Management Using Metro Maps" SOCA, Matsue, Japan (2014)
14 K.Nesbitt+0 "Getting to more abstract places using the metro map metaphor" 8th IV (2004)
M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 4/25
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4/25
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A Practical Setting
Accident Something happened at Site A
Causes Part A, Part B, Part C, … Human Factors…
All Parts Part Z, Part Y, …, Human Manuals, …
Rating
Blackswan
scenario
management
platform
Storage,
Database
Human
judgment
Auto
judgement
Report
on site
07bmyself+0 "Black Swan Disaster Scenarios" PRMU研 (2014)
M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 5/25
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5/25
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Definitions, Objectives, Terminology
.
Different Viewpoint
..
.
classifier is not for finding hidden relations, but for clear separation
between known and new
.
Learning Classifier
..
.... a classifier that improves its inference over time based on human feedback
.
Metromaps
..
.... are used as the graphical interface between humans and robots
• MDC: Multi-Dimensional Classification
• MC: Metromap Classifier
• folksonomy: BigData with very frivolous management of metadata
M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 6/25
...
6/25
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Existing MDC Methods
M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 7/25
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7/25
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MDC Basics: Binary Relevance (BR)
• binary: YES or NO for each Y 11
• problem: no relation between classes Y -- this is where metromaps can be
helpful
Training
Tuples
x1 x2 Y1 Y2 Y3
1 0.7 0.4 1 1 0
2 0.6 0.2 1 1 0
3 0.1 0.9 0 0 1
4 0.3 0.1 0 0 0
h1: X → Y1
h2: X → Y2
h3: X → Y3
11 J.Read+3 "Classifier chains for multi-label classification" Machine Learning, SpringerS (2011)
M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 8/25
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8/25
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MDC Basics: PairWise Sets (PW)
• relations can be found by creating new classes for all unique pairs in Y 11
• problem: many classes = fuzzy results = low reliability
Training
Tuples
x1 x2 Y1 Y2 Y3
1 0.7 0.4 1 1 0
2 0.6 0.2 1 1 0
3 0.1 0.9 0 0 1
4 0.3 0.1 0 0 0
h1: X → Z1
h2: X → Z2
Z1 Z2
1 0
0 1
0 0
0 0
11 J.Read+3 "Classifier chains for multi-label classification" Machine Learning, SpringerS (2011)
M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 9/25
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9/25
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MDC Basics: Label Combination (LC)
• basically, the extreme case of PW 11
• the same problem only worse -- there are too many classes!
Training
Tuples
x1 x2 Y1 Y2 Y3
1 0.7 0.4 1 1 0
2 0.6 0.2 1 1 0
3 0.1 0.9 0 0 1
4 0.3 0.1 0 0 0
h: X → Z
Z
1
0
0
0
11 J.Read+3 "Classifier chains for multi-label classification" Machine Learning, SpringerS (2011)
M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 10/25
...
10/25
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MDC Basics: Classifier Chains (CC)
• classes are used in sequence 11
• merit: small number of classes -- only the necessary ones are used
• demerit: what is the correct order?
Training
Tuples
x1 x2 Y1 Y2 Y3
1 0.7 0.4 1 1 0
2 0.6 0.2 1 1 0
3 0.1 0.9 0 0 1
0.3 0.1 0 0 0
h1: X → Y1
h2: Y1 → Y2
h3: Y2 → Y3
h2h1 h3
4
11 J.Read+3 "Classifier chains for multi-label classification" Machine Learning, SpringerS (2011)
M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 11/25
...
11/25
.
MDC Basics: Graphical Methodology
• the graphical
methodology
behind MDC 03
• all about joint
probability and how
it is calculated using
graph theory
03
D.Koller+1 "Probabilistic Graphical
Models: Principles and Techniques"
MIT Press (2009)
M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 12/25
...
12/25
.
Metromap Classifier (MC)
M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 13/25
...
13/25
.
Metromap Classifier (before)
• problem: human load is too high!, ex: disaster scenarios 07b
Human
judgment
Auto
judgement
Folksonomy
07bmyself+0 "Black Swan Disaster Scenarios" PRMU研 (2014)
M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 14/25
...
14/25
.
Metromap Classifier (after)
Human
judgment
Auto
judgement
Folksonomy
M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 15/25
...
15/25
.
Metromap Classifier : Features
• human role
1. build the metromap = relations between classes
2. when robot fails, do the work manually
3. do the human part (by design) of the work
• robot role
1. classify incoming data into YES or NO for question: should human see
this?
M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 16/25
...
16/25
.
Experiment
M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 17/25
...
17/25
.
Experiment : Setup
• IEICE/ken is the source of data -- over 3000 presentations over 2-3 last
years
• various combinations of title, keywords, abstract
• usecase: which presentations should I look at closely?
◦ ... meaning the metromap reflects my personal research interests
• Dumb Classifier (DC): one-dimensional yes or no
M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 18/25
...
18/25
.
Metromap Design: The Human
M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 19/25
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19/25
.
Metromap Classifier: Logic
• logic followed by the MC Robot
M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 20/25
...
20/25
.
Results: Title only
0 20 40 60 80 100 120
Time sequence
0
10
20
30
40
50
60
70
80
90
Goodcount
Dumb ClassifierMetromap Classifier(smart) Hits on a timeline
title
M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 21/25
...
21/25
.
Results: Title + Keywords
0 20 40 60 80 100
Time sequence
0
10
20
30
40
50
60
70
80Goodcount
Dumb ClassifierMetromap Classifier(smart) Hits on a timeline
title:keywords
M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 22/25
...
22/25
.
Results: Title + Keywords + Abstract
0 20 40 60 80 100 120
Time sequence
0
10
20
30
40
50
60
70
80
90Goodcount
Dumb ClassifierMetromap Classifier(smart) Hits on a timeline
title:keywords:abstract
M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 23/25
...
23/25
.
Wrapup: Not Good Enough
• not perfect: about 30% of wrong decisions
◦ FP: robot makes human look at bad stuff (false positive)
◦ FN: robot passes on good stuff (false negative)
• future improvements: need a solid logic which avoids FP and FN cases
• note: current naive and MDCs are at most 40-60% reliable -- no help here!
M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 24/25
...
24/25
.
That’s all, thank you ...
M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 25/25
...
25/25

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Metromaps as a Tool for Minimizing Human Interaction with Learning Bayesian Classifiers

  • 1.
  • 2. . Learning = Social (software) Robotics M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 2/25 ... 2/25
  • 3. . Social Robotics in Knowledge Rebot (careless) Input Human Human {structure} (pinpoint) Select Browse (or use otherwise) Some Knowledge (folksonomies, knowledge bases, databases, indexes, ontologies, etc.) (metromaps ) 07 myself+0 "On Context Management Using Metro Maps" SOCA, Matsue, Japan (2014) M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 3/25 ... 3/25
  • 4. . Metromap: The Basic Concept 07 myself+0 "On Context Management Using Metro Maps" SOCA, Matsue, Japan (2014) 14 K.Nesbitt+0 "Getting to more abstract places using the metro map metaphor" 8th IV (2004) M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 4/25 ... 4/25
  • 5. . A Practical Setting Accident Something happened at Site A Causes Part A, Part B, Part C, … Human Factors… All Parts Part Z, Part Y, …, Human Manuals, … Rating Blackswan scenario management platform Storage, Database Human judgment Auto judgement Report on site 07bmyself+0 "Black Swan Disaster Scenarios" PRMU研 (2014) M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 5/25 ... 5/25
  • 6. . Definitions, Objectives, Terminology . Different Viewpoint .. . classifier is not for finding hidden relations, but for clear separation between known and new . Learning Classifier .. .... a classifier that improves its inference over time based on human feedback . Metromaps .. .... are used as the graphical interface between humans and robots • MDC: Multi-Dimensional Classification • MC: Metromap Classifier • folksonomy: BigData with very frivolous management of metadata M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 6/25 ... 6/25
  • 7. . Existing MDC Methods M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 7/25 ... 7/25
  • 8. . MDC Basics: Binary Relevance (BR) • binary: YES or NO for each Y 11 • problem: no relation between classes Y -- this is where metromaps can be helpful Training Tuples x1 x2 Y1 Y2 Y3 1 0.7 0.4 1 1 0 2 0.6 0.2 1 1 0 3 0.1 0.9 0 0 1 4 0.3 0.1 0 0 0 h1: X → Y1 h2: X → Y2 h3: X → Y3 11 J.Read+3 "Classifier chains for multi-label classification" Machine Learning, SpringerS (2011) M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 8/25 ... 8/25
  • 9. . MDC Basics: PairWise Sets (PW) • relations can be found by creating new classes for all unique pairs in Y 11 • problem: many classes = fuzzy results = low reliability Training Tuples x1 x2 Y1 Y2 Y3 1 0.7 0.4 1 1 0 2 0.6 0.2 1 1 0 3 0.1 0.9 0 0 1 4 0.3 0.1 0 0 0 h1: X → Z1 h2: X → Z2 Z1 Z2 1 0 0 1 0 0 0 0 11 J.Read+3 "Classifier chains for multi-label classification" Machine Learning, SpringerS (2011) M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 9/25 ... 9/25
  • 10. . MDC Basics: Label Combination (LC) • basically, the extreme case of PW 11 • the same problem only worse -- there are too many classes! Training Tuples x1 x2 Y1 Y2 Y3 1 0.7 0.4 1 1 0 2 0.6 0.2 1 1 0 3 0.1 0.9 0 0 1 4 0.3 0.1 0 0 0 h: X → Z Z 1 0 0 0 11 J.Read+3 "Classifier chains for multi-label classification" Machine Learning, SpringerS (2011) M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 10/25 ... 10/25
  • 11. . MDC Basics: Classifier Chains (CC) • classes are used in sequence 11 • merit: small number of classes -- only the necessary ones are used • demerit: what is the correct order? Training Tuples x1 x2 Y1 Y2 Y3 1 0.7 0.4 1 1 0 2 0.6 0.2 1 1 0 3 0.1 0.9 0 0 1 0.3 0.1 0 0 0 h1: X → Y1 h2: Y1 → Y2 h3: Y2 → Y3 h2h1 h3 4 11 J.Read+3 "Classifier chains for multi-label classification" Machine Learning, SpringerS (2011) M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 11/25 ... 11/25
  • 12. . MDC Basics: Graphical Methodology • the graphical methodology behind MDC 03 • all about joint probability and how it is calculated using graph theory 03 D.Koller+1 "Probabilistic Graphical Models: Principles and Techniques" MIT Press (2009) M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 12/25 ... 12/25
  • 13. . Metromap Classifier (MC) M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 13/25 ... 13/25
  • 14. . Metromap Classifier (before) • problem: human load is too high!, ex: disaster scenarios 07b Human judgment Auto judgement Folksonomy 07bmyself+0 "Black Swan Disaster Scenarios" PRMU研 (2014) M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 14/25 ... 14/25
  • 15. . Metromap Classifier (after) Human judgment Auto judgement Folksonomy M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 15/25 ... 15/25
  • 16. . Metromap Classifier : Features • human role 1. build the metromap = relations between classes 2. when robot fails, do the work manually 3. do the human part (by design) of the work • robot role 1. classify incoming data into YES or NO for question: should human see this? M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 16/25 ... 16/25
  • 17. . Experiment M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 17/25 ... 17/25
  • 18. . Experiment : Setup • IEICE/ken is the source of data -- over 3000 presentations over 2-3 last years • various combinations of title, keywords, abstract • usecase: which presentations should I look at closely? ◦ ... meaning the metromap reflects my personal research interests • Dumb Classifier (DC): one-dimensional yes or no M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 18/25 ... 18/25
  • 19. . Metromap Design: The Human M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 19/25 ... 19/25
  • 20. . Metromap Classifier: Logic • logic followed by the MC Robot M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 20/25 ... 20/25
  • 21. . Results: Title only 0 20 40 60 80 100 120 Time sequence 0 10 20 30 40 50 60 70 80 90 Goodcount Dumb ClassifierMetromap Classifier(smart) Hits on a timeline title M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 21/25 ... 21/25
  • 22. . Results: Title + Keywords 0 20 40 60 80 100 Time sequence 0 10 20 30 40 50 60 70 80Goodcount Dumb ClassifierMetromap Classifier(smart) Hits on a timeline title:keywords M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 22/25 ... 22/25
  • 23. . Results: Title + Keywords + Abstract 0 20 40 60 80 100 120 Time sequence 0 10 20 30 40 50 60 70 80 90Goodcount Dumb ClassifierMetromap Classifier(smart) Hits on a timeline title:keywords:abstract M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 23/25 ... 23/25
  • 24. . Wrapup: Not Good Enough • not perfect: about 30% of wrong decisions ◦ FP: robot makes human look at bad stuff (false positive) ◦ FN: robot passes on good stuff (false negative) • future improvements: need a solid logic which avoids FP and FN cases • note: current naive and MDCs are at most 40-60% reliable -- no help here! M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 24/25 ... 24/25
  • 25. . That’s all, thank you ... M.Zhanikeev -- maratishe@gmail.com -- Metromaps for Minimizing Human Interaction with Bayesian Classifiers -- http://bit.do/marat150129 -- 25/25 ... 25/25