arXiv subjects

Joshua Tobin

Publications and source records attributed to Joshua Tobin.

5 recordsLinked to original sources

arXiv2024

Co-Clustering Multi-View Data Using the Latent Block Model

The Latent Block Model (LBM) is a prominent model-based co-clustering method, returning parametric representations of each block cluster and allowing the use of well-grounded model selection methods. The LBM, while adapted in literature to handle different feature types, cannot be applied to datasets consisting of multiple disjoint sets of features, termed views, for a common set of observations. In this work, we introduce the multi-view LBM, extending the LBM method to multi-view data, where each view marginally follows an LBM. In the case of two views, the dependence between them is captured by a cluster membership matrix, and we aim to learn the structure of this matrix. We develop a likelihood-based approach in which parameter estimation uses a stochastic EM algorithm integrating a Gibbs sampler, and an ICL criterion is derived to determine the number of row and column clusters in each view. To motivate the application of multi-view methods, we extend recent work developing hypothesis tests for the null hypothesis that clusters of observations in each view are independent of each other. The testing procedure is integrated into the model estimation strategy. Furthermore, we introduce a penalty scheme to generate sparse row clusterings. We verify the performance of the developed algorithm using synthetic datasets, and provide guidance for optimal parameter selection. Finally, the multi-view co-clustering method is applied to a complex genomics dataset, and is shown to provide new insights for high-dimension multi-view problems.

stat.ME↗

arXiv2020

Clustering of Big Data with Mixed Features

Clustering large, mixed data is a central problem in data mining. Many approaches adopt the idea of k-means, and hence are sensitive to initialisation, detect only spherical clusters, and require a priori the unknown number of clusters. We here develop a new clustering algorithm for large data of mixed type, aiming at improving the applicability and efficiency of the peak-finding technique. The improvements are threefold: (1) the new algorithm is applicable to mixed data; (2) the algorithm is capable of detecting outliers and clusters of relatively lower density values; (3) the algorithm is competent at deciding the correct number of clusters. The computational complexity of the algorithm is greatly reduced by applying a fast k-nearest neighbors method and by scaling down to component sets. We present experimental results to verify that our algorithm works well in practice. Keywords: Clustering; Big Data; Mixed Attribute; Density Peaks; Nearest-Neighbor Graph; Conductance.

stat.ML↗

arXiv2017

Domain Randomization and Generative Models for Robotic Grasping

Deep learning-based robotic grasping has made significant progress thanks to algorithmic improvements and increased data availability. However, state-of-the-art models are often trained on as few as hundreds or thousands of unique object instances, and as a result generalization can be a challenge. In this work, we explore a novel data generation pipeline for training a deep neural network to perform grasp planning that applies the idea of domain randomization to object synthesis. We generate millions of unique, unrealistic procedurally generated objects, and train a deep neural network to perform grasp planning on these objects. Since the distribution of successful grasps for a given object can be highly multimodal, we propose an autoregressive grasp planning model that maps sensor inputs of a scene to a probability distribution over possible grasps. This model allows us to sample grasps efficiently at test time (or avoid sampling entirely). We evaluate our model architecture and data generation pipeline in simulation and the real world. We find we can achieve a $>$90% success rate on previously unseen realistic objects at test time in simulation despite having only been trained on random objects. We also demonstrate an 80% success rate on real-world grasp attempts despite having only been trained on random simulated objects.

cs.RO↗

arXiv2016

Transfer from Simulation to Real World through Learning Deep Inverse Dynamics Model

Developing control policies in simulation is often more practical and safer than directly running experiments in the real world. This applies to policies obtained from planning and optimization, and even more so to policies obtained from reinforcement learning, which is often very data demanding. However, a policy that succeeds in simulation often doesn't work when deployed on a real robot. Nevertheless, often the overall gist of what the policy does in simulation remains valid in the real world. In this paper we investigate such settings, where the sequence of states traversed in simulation remains reasonable for the real world, even if the details of the controls are not, as could be the case when the key differences lie in detailed friction, contact, mass and geometry properties. During execution, at each time step our approach computes what the simulation-based control policy would do, but then, rather than executing these controls on the real robot, our approach computes what the simulation expects the resulting next state(s) will be, and then relies on a learned deep inverse dynamics model to decide which real-world action is most suitable to achieve those next states. Deep models are only as good as their training data, and we also propose an approach for data collection to (incrementally) learn the deep inverse dynamics model. Our experiments shows our approach compares favorably with various baselines that have been developed for dealing with simulation to real world model discrepancy, including output error control and Gaussian dynamics adaptation.

cs.RO↗

arXiv2013

Knot Floer Filtration Classes of Topologically Slice Knots

The knot Floer complex and the concordance invariant $\varepsilon$ can be used to define a filtration on the smooth concordance group. We exhibit an ordered subset of this filtration that is isomorphic to $\mathbb{N} \times \mathbb{N}$ and consists of topologically slice knots.

math.GT↗