arXiv subjects

Patrick van der Smagt

Publications and source records attributed to Patrick van der Smagt.

At least 37 records · Page 2Linked to original sources

arXiv2023

Filter-Aware Model-Predictive Control

Partially-observable problems pose a trade-off between reducing costs and gathering information. They can be solved optimally by planning in belief space, but that is often prohibitively expensive. Model-predictive control (MPC) takes the alternative approach of using a state estimator to form a belief over the state, and then plan in state space. This ignores potential future observations during planning and, as a result, cannot actively increase or preserve the certainty of its own state estimate. We find a middle-ground between planning in belief space and completely ignoring its dynamics by only reasoning about its future accuracy. Our approach, filter-aware MPC, penalises the loss of information by what we call "trackability", the expected error of the state estimator. We show that model-based simulation allows condensing trackability into a neural network, which allows fast planning. In experiments involving visual navigation, realistic every-day environments and a two-link robot arm, we show that filter-aware MPC vastly improves regular MPC.

cs.LG↗

arXiv2022

PRISM: Probabilistic Real-Time Inference in Spatial World Models

We introduce PRISM, a method for real-time filtering in a probabilistic generative model of agent motion and visual perception. Previous approaches either lack uncertainty estimates for the map and agent state, do not run in real-time, do not have a dense scene representation or do not model agent dynamics. Our solution reconciles all of these aspects. We start from a predefined state-space model which combines differentiable rendering and 6-DoF dynamics. Probabilistic inference in this model amounts to simultaneous localisation and mapping (SLAM) and is intractable. We use a series of approximations to Bayesian inference to arrive at probabilistic map and state estimates. We take advantage of well-established methods and closed-form updates, preserving accuracy and enabling real-time capability. The proposed solution runs at 10Hz real-time and is similarly accurate to state-of-the-art SLAM in small to medium-sized indoor environments, with high-speed UAV and handheld camera agents (Blackbird, EuRoC and TUM-RGBD).

cs.LG↗

arXiv2022

CLAS: Coordinating Multi-Robot Manipulation with Central Latent Action Spaces

Multi-robot manipulation tasks involve various control entities that can be separated into dynamically independent parts. A typical example of such real-world tasks is dual-arm manipulation. Learning to naively solve such tasks with reinforcement learning is often unfeasible due to the sample complexity and exploration requirements growing with the dimensionality of the action and state spaces. Instead, we would like to handle such environments as multi-agent systems and have several agents control parts of the whole. However, decentralizing the generation of actions requires coordination across agents through a channel limited to information central to the task. This paper proposes an approach to coordinating multi-robot manipulation through learned latent action spaces that are shared across different agents. We validate our method in simulated multi-robot manipulation tasks and demonstrate improvement over previous baselines in terms of sample efficiency and learning performance.

cs.RO↗

arXiv2022

Local Distance Preserving Auto-encoders using Continuous k-Nearest Neighbours Graphs

Auto-encoder models that preserve similarities in the data are a popular tool in representation learning. In this paper we introduce several auto-encoder models that preserve local distances when mapping from the data space to the latent space. We use a local distance preserving loss that is based on the continuous k-nearest neighbours graph which is known to capture topological features at all scales simultaneously. To improve training performance, we formulate learning as a constraint optimisation problem with local distance preservation as the main objective and reconstruction accuracy as a constraint. We generalise this approach to hierarchical variational auto-encoders thus learning generative models with geometrically consistent latent and data spaces. Our method provides state-of-the-art performance across several standard datasets and evaluation metrics.

cs.LG↗

arXiv2022

Probabilistic Dalek -- Emulator framework with probabilistic prediction for supernova tomography

Supernova spectral time series can be used to reconstruct a spatially resolved explosion model known as supernova tomography. In addition to an observed spectral time series, a supernova tomography requires a radiative transfer model to perform the inverse problem with uncertainty quantification for a reconstruction. The smallest parametrizations of supernova tomography models are roughly a dozen parameters with a realistic one requiring more than 100. Realistic radiative transfer models require tens of CPU minutes for a single evaluation making the problem computationally intractable with traditional means requiring millions of MCMC samples for such a problem. A new method for accelerating simulations known as surrogate models or emulators using machine learning techniques offers a solution for such problems and a way to understand progenitors/explosions from spectral time series. There exist emulators for the TARDIS supernova radiative transfer code but they only perform well on simplistic low-dimensional models (roughly a dozen parameters) with a small number of applications for knowledge gain in the supernova field. In this work, we present a new emulator for the radiative transfer code TARDIS that not only outperforms existing emulators but also provides uncertainties in its prediction. It offers the foundation for a future active-learning-based machinery that will be able to emulate very high dimensional spaces of hundreds of parameters crucial for unraveling urgent questions in supernovae and related fields.

cs.LG↗

arXiv2022

Flat Latent Manifolds for Human-machine Co-creation of Music

The use of machine learning in artistic music generation leads to controversial discussions of the quality of art, for which objective quantification is nonsensical. We therefore consider a music-generating algorithm as a counterpart to a human musician, in a setting where reciprocal interplay is to lead to new experiences, both for the musician and the audience. To obtain this behaviour, we resort to the framework of recurrent Variational Auto-Encoders (VAE) and learn to generate music, seeded by a human musician. In the learned model, we generate novel musical sequences by interpolation in latent space. Standard VAEs however do not guarantee any form of smoothness in their latent representation. This translates into abrupt changes in the generated music sequences. To overcome these limitations, we regularise the decoder and endow the latent space with a flat Riemannian manifold, i.e., a manifold that is isometric to the Euclidean space. As a result, linearly interpolating in the latent space yields realistic and smooth musical changes that fit the type of machine--musician interactions we aim for. We provide empirical evidence for our method via a set of experiments on music datasets and we deploy our model for an interactive jam session with a professional drummer. The live performance provides qualitative evidence that the latent representation can be intuitively interpreted and exploited by the drummer to drive the interplay. Beyond the musical application, our approach showcases an instance of human-centred design of machine-learning models, driven by interpretability and the interaction with the end user.

cs.SD↗

arXiv2022

New mass estimates for massive binary systems: a probabilistic approach using polarimetric radiative transfer

Understanding the evolution of massive binary stars requires accurate estimates of their masses. This understanding is critically important because massive star evolution can potentially lead to gravitational wave sources such as binary black holes or neutron stars. For Wolf-Rayet stars with optically thick stellar winds, their masses can only be determined with accurate inclination angle estimates from binary systems which have spectroscopic $M \sin i$ measurements. Orbitally-phased polarization signals can encode the inclination angle of binary systems, where the Wolf-Rayet winds act as scattering regions. We investigated four Wolf-Rayet + O star binary systems, WR 42, WR 79, WR 127, and WR 153, with publicly available phased polarization data to estimate their masses. To avoid the biases present in analytic models of polarization while retaining computational expediency, we used a Monte Carlo radiative transfer model accurately emulated by a neural network. We used the emulated model to investigate the posterior distribution of parameters of our four systems. Our mass estimates calculated from the estimated inclination angles put strong constraints on existing mass estimates for three of the systems, and disagrees with the existing mass estimates for WR 153. We recommend a concerted effort to obtain polarization observations that can be used to estimate the masses of Wolf-Rayet binary systems and increase our understanding of their evolutionary paths.

astro-ph.SR↗

arXiv2022

Tracking and Planning with Spatial World Models

We introduce a method for real-time navigation and tracking with differentiably rendered world models. Learning models for control has led to impressive results in robotics and computer games, but this success has yet to be extended to vision-based navigation. To address this, we transfer advances in the emergent field of differentiable rendering to model-based control. We do this by planning in a learned 3D spatial world model, combined with a pose estimation algorithm previously used in the context of TSDF fusion, but now tailored to our setting and improved to incorporate agent dynamics. We evaluate over six simulated environments based on complex human-designed floor plans and provide quantitative results. We achieve up to 92% navigation success rate at a frequency of 15 Hz using only image and depth observations under stochastic, continuous dynamics.

cs.LG↗

arXiv2022

Constrained Probabilistic Movement Primitives for Robot Trajectory Adaptation

Placing robots outside controlled conditions requires versatile movement representations that allow robots to learn new tasks and adapt them to environmental changes. The introduction of obstacles or the placement of additional robots in the workspace, the modification of the joint range due to faults or range-of-motion constraints are typical cases where the adaptation capabilities play a key role for safely performing the robot's task. Probabilistic movement primitives (ProMPs) have been proposed for representing adaptable movement skills, which are modelled as Gaussian distributions over trajectories. These are analytically tractable and can be learned from a small number of demonstrations. However, both the original ProMP formulation and the subsequent approaches only provide solutions to specific movement adaptation problems, e.g., obstacle avoidance, and a generic, unifying, probabilistic approach to adaptation is missing. In this paper we develop a generic probabilistic framework for adapting ProMPs. We unify previous adaptation techniques, for example, various types of obstacle avoidance, via-points, mutual avoidance, in one single framework and combine them to solve complex robotic problems. Additionally, we derive novel adaptation techniques such as temporally unbound via-points and mutual avoidance. We formulate adaptation as a constrained optimisation problem where we minimise the Kullback-Leibler divergence between the adapted distribution and the distribution of the original primitive while we constrain the probability mass associated with undesired trajectories to be low. We demonstrate our approach on several adaptation problems on simulated planar robot arms and 7-DOF Franka-Emika robots in a dual robot arm setting.

cs.RO↗

arXiv2021

Probabilistic Reconstruction of Type Ia Supernova SN 2002bo

Manual fits to spectral times series of Type Ia supernovae have provided a method of reconstructing the explosion from a parametric model but due to lack of information about model uncertainties or parameter degeneracies direct comparison between theory and observation is difficult. In order to mitigate this important problem we present a new way to probabilistically reconstruct the outer ejecta of the normal Type Ia supernova SN 2002bo. A single epoch spectrum, taken 10 days before maximum light, is fit by a 13-parameter model describing the elemental composition of the ejecta and the explosion physics (density, temperature, velocity, and explosion epoch). Model evaluation is performed through the application of a novel rapid spectral synthesis technique in which the radiative transfer code, TARDIS, is accelerated by a machine-learning framework. Analysis of the posterior distribution reveals a complex and degenerate parameter space and allows direct comparison to various hydrodynamic models. Our analysis favors detonation over deflagration scenarios and we find that our technique offers a novel way to compare simulation to observation.

astro-ph.SR↗

arXiv2021

Mind the Gap when Conditioning Amortised Inference in Sequential Latent-Variable Models

Amortised inference enables scalable learning of sequential latent-variable models (LVMs) with the evidence lower bound (ELBO). In this setting, variational posteriors are often only partially conditioned. While the true posteriors depend, e.g., on the entire sequence of observations, approximate posteriors are only informed by past observations. This mimics the Bayesian filter -- a mixture of smoothing posteriors. Yet, we show that the ELBO objective forces partially-conditioned amortised posteriors to approximate products of smoothing posteriors instead. Consequently, the learned generative model is compromised. We demonstrate these theoretical findings in three scenarios: traffic flow, handwritten digits, and aerial vehicle dynamics. Using fully-conditioned approximate posteriors, performance improves in terms of generative modelling and multi-step prediction.

cs.LG↗

arXiv2021

Variational State-Space Models for Localisation and Dense 3D Mapping in 6 DoF

We solve the problem of 6-DoF localisation and 3D dense reconstruction in spatial environments as approximate Bayesian inference in a deep state-space model. Our approach leverages both learning and domain knowledge from multiple-view geometry and rigid-body dynamics. This results in an expressive predictive model of the world, often missing in current state-of-the-art visual SLAM solutions. The combination of variational inference, neural networks and a differentiable raycaster ensures that our model is amenable to end-to-end gradient-based optimisation. We evaluate our approach on realistic unmanned aerial vehicle flight data, nearing the performance of state-of-the-art visual-inertial odometry systems. We demonstrate the applicability of the model to generative prediction and planning.

stat.ML↗

arXiv2020

Learning Flat Latent Manifolds with VAEs

Measuring the similarity between data points often requires domain knowledge, which can in parts be compensated by relying on unsupervised methods such as latent-variable models, where similarity/distance is estimated in a more compact latent space. Prevalent is the use of the Euclidean metric, which has the drawback of ignoring information about similarity of data stored in the decoder, as captured by the framework of Riemannian geometry. We propose an extension to the framework of variational auto-encoders allows learning flat latent manifolds, where the Euclidean metric is a proxy for the similarity between data points. This is achieved by defining the latent space as a Riemannian manifold and by regularising the metric tensor to be a scaled identity matrix. Additionally, we replace the compact prior typically used in variational auto-encoders with a recently presented, more expressive hierarchical one---and formulate the learning problem as a constrained optimisation problem. We evaluate our method on a range of data-sets, including a video-tracking benchmark, where the performance of our unsupervised approach nears that of state-of-the-art supervised approaches, while retaining the computational efficiency of straight-line-based approaches.

stat.ML↗

arXiv2020

Learning to Fly via Deep Model-Based Reinforcement Learning

Learning to control robots without requiring engineered models has been a long-term goal, promising diverse and novel applications. Yet, reinforcement learning has only achieved limited impact on real-time robot control due to its high demand of real-world interactions. In this work, by leveraging a learnt probabilistic model of drone dynamics, we learn a thrust-attitude controller for a quadrotor through model-based reinforcement learning. No prior knowledge of the flight dynamics is assumed; instead, a sequential latent variable model, used generatively and as an online filter, is learnt from raw sensory input. The controller and value function are optimised entirely by propagating stochastic analytic gradients through generated latent trajectories. We show that "learning to fly" can be achieved with less than 30 minutes of experience with a single drone, and can be deployed solely using onboard computational resources and sensors, on a self-built drone.

cs.RO↗

arXiv2020

Dalek -- a deep-learning emulator for TARDIS

Supernova spectral time series contain a wealth of information about the progenitor and explosion process of these energetic events. The modeling of these data requires the exploration of very high dimensional posterior probabilities with expensive radiative transfer codes. Even modest parametrizations of supernovae contain more than ten parameters and a detailed exploration demands at least several million function evaluations. Physically realistic models require at least tens of CPU minutes per evaluation putting a detailed reconstruction of the explosion out of reach of traditional methodology. The advent of widely available libraries for the training of neural networks combined with their ability to approximate almost arbitrary functions with high precision allows for a new approach to this problem. Instead of evaluating the radiative transfer model itself, one can build a neural network proxy trained on the simulations but evaluating orders of magnitude faster. Such a framework is called an emulator or surrogate model. In this work, we present an emulator for the TARDIS supernova radiative transfer code applied to Type Ia supernova spectra. We show that we can train an emulator for this problem given a modest training set of a hundred thousand spectra (easily calculable on modern supercomputers). The results show an accuracy on the percent level (that are dominated by the Monte Carlo nature of TARDIS and not the emulator) with a speedup of several orders of magnitude. This method has a much broader set of applications and is not limited to the presented problem.

astro-ph.IM↗

arXiv2020

Layerwise learning for quantum neural networks

With the increased focus on quantum circuit learning for near-term applications on quantum devices, in conjunction with unique challenges presented by cost function landscapes of parametrized quantum circuits, strategies for effective training are becoming increasingly important. In order to ameliorate some of these challenges, we investigate a layerwise learning strategy for parametrized quantum circuits. The circuit depth is incrementally grown during optimization, and only subsets of parameters are updated in each training step. We show that when considering sampling noise, this strategy can help avoid the problem of barren plateaus of the error surface due to the low depth of circuits, low number of parameters trained in one step, and larger magnitude of gradients compared to training the full circuit. These properties make our algorithm preferable for execution on noisy intermediate-scale quantum devices. We demonstrate our approach on an image-classification task on handwritten digits, and show that layerwise learning attains an 8% lower generalization error on average in comparison to standard learning schemes for training quantum circuits of the same size. Additionally, the percentage of runs that reach lower test errors is up to 40% larger compared to training the full circuit, which is susceptible to creeping onto a plateau during training.

quant-ph↗

arXiv2020

On Deep Set Learning and the Choice of Aggregations

Recently, it has been shown that many functions on sets can be represented by sum decompositions. These decompositons easily lend themselves to neural approximations, extending the applicability of neural nets to set-valued inputs---Deep Set learning. This work investigates a core component of Deep Set architecture: aggregation functions. We suggest and examine alternatives to commonly used aggregation functions, including learnable recurrent aggregation functions. Empirically, we show that the Deep Set networks are highly sensitive to the choice of aggregation functions: beyond improved performance, we find that learnable aggregations lower hyper-parameter sensitivity and generalize better to out-of-distribution input size.

stat.ML↗

arXiv2019

Beta DVBF: Learning State-Space Models for Control from High Dimensional Observations

Learning a model of dynamics from high-dimensional images can be a core ingredient for success in many applications across different domains, especially in sequential decision making. However, currently prevailing methods based on latent-variable models are limited to working with low resolution images only. In this work, we show that some of the issues with using high-dimensional observations arise from the discrepancy between the dimensionality of the latent and observable space, and propose solutions to overcome them.

cs.LG↗