Svetlin Penkov and Can Pu
Thu 07 Sep 2017, 12:45 - 13:45
IF 4.31/4.33

If you have a question about this talk, please contact: Allison Taylor (v1atayl6)

Pastries will be available

Speaker: Svetlin Penkov

Title: Explaining Transition Systems through Program Induction

Abstract: Explaining and reasoning about processes which underlie observed black-box phenomena enables the discovery of causal mechanisms, derivation of suitable abstract representations and the formulation of more robust predictions. We propose to learn high level functional programs in order to represent abstract models which capture the invariant structure in the observed data. We introduce the π-machine (program-induction machine) -- an architecture able to induce interpretable LISP-like programs from observed data traces. We propose an optimisation procedure for program learning based on backpropagation, gradient descent and A* search. We apply the proposed method to three problems: system identification of dynamical systems, explaining the behaviour of a DQN agent and learning by demonstration in a human-robot interaction scenario. Our experimental results show that the π-machine can efficiently induce interpretable programs from individual data traces.

 

 

Speaker: Can Pu

Title: Robust Rigid Point Registration based on Convolution of Adaptive Gaussian Mixture Models

Abstract: Matching 3D rigid point clouds in complex environments robustly and accurately is still a core technique used in many applications. This paper proposes a new architecture combining error estimation from sample covariances and dual global probability alignment based on the convolution of adaptive Gaussian Mixture Models (GMM) from point clouds. Firstly, a novel adaptive GMM is defined using probability distributions from the corresponding points. Then rigid point cloud alignment is performed by maximizing the global probability from the convolution of dual adaptive GMMs in the whole 2D or 3D space, which can be efficiently optimized and has a large zone of accurate convergence. Thousands of trials have been conducted on 200 models from public 2D and 3D datasets to demonstrate superior robustness and accuracy in complex environments with unpredictable noise, outliers, occlusion, initial rotation, shape and missing points.