arXiv subjects

Vicenç Gómez

Publications and source records attributed to Vicenç Gómez.

At least 37 records · Page 2Linked to original sources

arXiv2020

Real-Time Stochastic Optimal Control for Multi-agent Quadrotor Systems

This paper presents a novel method for controlling teams of unmanned aerial vehicles using Stochastic Optimal Control (SOC) theory. The approach consists of a centralized high-level planner that computes optimal state trajectories as velocity sequences, and a platform-specific low-level controller which ensures that these velocity sequences are met. The planning task is expressed as a centralized path-integral control problem, for which optimal control computation corresponds to a probabilistic inference problem that can be solved by efficient sampling methods. Through simulation we show that our SOC approach (a) has significant benefits compared to deterministic control and other SOC methods in multimodal problems with noise-dependent optimal solutions, (b) is capable of controlling a large number of platforms in real-time, and (c) yields collective emergent behaviour in the form of flight formations. Finally, we show that our approach works for real platforms, by controlling a team of three quadrotors in outdoor conditions.

eess.SY↗

arXiv2020

Input complexity and out-of-distribution detection with likelihood-based generative models

Likelihood-based generative models are a promising resource to detect out-of-distribution (OOD) inputs which could compromise the robustness or reliability of a machine learning system. However, likelihoods derived from such models have been shown to be problematic for detecting certain types of inputs that significantly differ from training data. In this paper, we pose that this problem is due to the excessive influence that input complexity has in generative models' likelihoods. We report a set of experiments supporting this hypothesis, and use an estimate of input complexity to derive an efficient and parameter-free OOD score, which can be seen as a likelihood-ratio, akin to Bayesian model comparison. We find such score to perform comparably to, or even better than, existing OOD detection approaches under a wide range of data sets, models, model sizes, and complexity estimates.

cs.LG↗

arXiv2019

The few-get-richer: a surprising consequence of popularity-based rankings

Ranking algorithms play a crucial role in online platforms ranging from search engines to recommender systems. In this paper, we identify a surprising consequence of popularity-based rankings: the fewer the items reporting a given signal, the higher the share of the overall traffic they collectively attract. This few-get-richer effect emerges in settings where there are few distinct classes of items (e.g., left-leaning news sources versus right-leaning news sources), and items are ranked based on their popularity. We demonstrate analytically that the few-get-richer effect emerges when people tend to click on top-ranked items and have heterogeneous preferences for the classes of items. Using simulations, we analyze how the strength of the effect changes with assumptions about the setting and human behavior. We also test our predictions experimentally in an online experiment with human participants. Our findings have important implications to understand the spread of misinformation.

cs.IR↗

arXiv2019

Consequential Ranking Algorithms and Long-term Welfare

Ranking models are typically designed to provide rankings that optimize some measure of immediate utility to the users. As a result, they have been unable to anticipate an increasing number of undesirable long-term consequences of their proposed rankings, from fueling the spread of misinformation and increasing polarization to degrading social discourse. Can we design ranking models that understand the consequences of their proposed rankings and, more importantly, are able to avoid the undesirable ones? In this paper, we first introduce a joint representation of rankings and user dynamics using Markov decision processes. Then, we show that this representation greatly simplifies the construction of consequential ranking models that trade off the immediate utility and the long-term welfare. In particular, we can obtain optimal consequential rankings just by applying weighted sampling on the rankings provided by models that maximize measures of immediate utility. However, in practice, such a strategy may be inefficient and impractical, specially in high dimensional scenarios. To overcome this, we introduce an efficient gradient-based algorithm to learn parameterized consequential ranking models that effectively approximate optimal ones. We showcase our methodology using synthetic and real data gathered from Reddit and show that ranking models derived using our methodology provide ranks that may mitigate the spread of misinformation and improve the civility of online discussions.

cs.LG↗

arXiv2019

Sharing emotions at scale: The Vent dataset

The continuous and increasing use of social media has enabled the expression of human thoughts, opinions, and everyday actions publicly at an unprecedented scale. We present the Vent dataset, the largest annotated dataset of text, emotions, and social connections to date. It comprises more than 33 millions of posts by nearly a million of users together with their social connections. Each post has an associated emotion. There are 705 different emotions, organized in 63 "emotion categories", forming a two-level taxonomy of affects. Our initial statistical analysis describes the global patterns of activity in the Vent platform, revealing large heterogenities and certain remarkable regularities regarding the use of the different emotions. We focus on the aggregated use of emotions, the temporal activity, and the social network of users, and outline possible methods to infer emotion networks based on the user activity. We also analyze the text and describe the affective landscape of Vent, finding agreements with existing (small scale) annotated corpus in terms of emotion categories and positive/negative valences. Finally, we discuss possible research questions that can be addressed from this unique dataset.

cs.SI↗

arXiv2018

Interactive Discovery System for Direct Democracy

Decide Madrid is the civic technology of Madrid City Council which allows users to create and support online petitions. Despite the initial success, the platform is encountering problems with the growth of petition signing because petitions are far from the minimum number of supporting votes they must gather. Previous analyses have suggested that this problem is produced by the interface: a paginated list of petitions which applies a non-optimal ranking algorithm. For this reason, we present an interactive system for the discovery of topics and petitions. This approach leads us to reflect on the usefulness of data visualization techniques to address relevant societal challenges.

cs.CY↗

arXiv2018

Adult content in Social Live Streaming Services: Characterizing deviant users and relationships

Social Live Stream Services (SLSS) exploit a new level of social interaction. One of the main challenges in these services is how to detect and prevent deviant behaviors that violate community guidelines. In this work, we focus on adult content production and consumption in two widely used SLSS, namely Live.me and Loops Live, which have millions of users producing massive amounts of video content on a daily basis. We use a pre-trained deep learning model to identify broadcasters of adult content. Our results indicate that moderation systems in place are highly ineffective in suspending the accounts of such users. We create two large datasets by crawling the social graphs of these platforms, which we analyze to identify characterizing traits of adult content producers and consumers, and discover interesting patterns of relationships among them, evident in both networks.

cs.SI↗

arXiv2018

Online Petitioning Through Data Exploration and What We Found There: A Dataset of Petitions from Avaaz.org

The Internet has become a fundamental resource for activism as it facilitates political mobilization at a global scale. Petition platforms are a clear example of how thousands of people around the world can contribute to social change. Avaaz.org, with a presence in over 200 countries, is one of the most popular of this type. However, little research has focused on this platform, probably due to a lack of available data. In this work we retrieved more than 350K petitions, standardized their field values, and added new information using language detection and named-entity recognition. To motivate future research with this unique repository of global protest, we present a first exploration of the dataset. In particular, we examine how social media campaigning is related to the success of petitions, as well as some geographic and linguistic findings about the worldwide community of Avaaz.org. We conclude with example research questions that could be addressed with our dataset.

cs.SI↗

arXiv2018

Improving width-based planning with compact policies

Optimal action selection in decision problems characterized by sparse, delayed rewards is still an open challenge. For these problems, current deep reinforcement learning methods require enormous amounts of data to learn controllers that reach human-level performance. In this work, we propose a method that interleaves planning and learning to address this issue. The planning step hinges on the Iterated-Width (IW) planner, a state of the art planner that makes explicit use of the state representation to perform structured exploration. IW is able to scale up to problems independently of the size of the state space. From the state-actions visited by IW, the learning step estimates a compact policy, which in turn is used to guide the planning step. The type of exploration used by our method is radically different than the standard random exploration used in RL. We evaluate our method in simple problems where we show it to have superior performance than the state-of-the-art reinforcement learning algorithms A2C and Alpha Zero. Finally, we present preliminary results in a subset of the Atari games suite.

cs.AI↗

arXiv2017

Deliberative Platform Design: The case study of the online discussions in Decidim Barcelona

With the irruption of ICTs and the crisis of political representation, many online platforms have been developed with the aim of improving participatory democratic processes. However, regarding platforms for online petitioning, previous research has not found examples of how to effectively introduce discussions, a crucial feature to promote deliberation. In this study we focus on the case of Decidim Barcelona, the online participatory-democracy platform launched by the City Council of Barcelona in which proposals can be discussed with an interface that combines threaded discussions and comment alignment with the proposal. This innovative approach allows to examine whether neutral, positive or negative comments are more likely to generate discussion cascades. The results reveal that, with this interface, comments marked as negatively aligned with the proposal were more likely to engage users in online discussions and, therefore, helped to promote deliberative decision making.

cs.SI↗

arXiv2017

Fast rates for online learning in Linearly Solvable Markov Decision Processes

We study the problem of online learning in a class of Markov decision processes known as linearly solvable MDPs. In the stationary version of this problem, a learner interacts with its environment by directly controlling the state transitions, attempting to balance a fixed state-dependent cost and a certain smooth cost penalizing extreme control inputs. In the current paper, we consider an online setting where the state costs may change arbitrarily between consecutive rounds, and the learner only observes the costs at the end of each respective round. We are interested in constructing algorithms for the learner that guarantee small regret against the best stationary control policy chosen in full knowledge of the cost sequence. Our main result is showing that the smoothness of the control cost enables the simple algorithm of following the leader to achieve a regret of order $\log^2 T$ after $T$ rounds, vastly improving on the best known regret bound of order $T^{3/4}$ for this setting.

cs.LG↗

arXiv2017

A unified view of entropy-regularized Markov decision processes

We propose a general framework for entropy-regularized average-reward reinforcement learning in Markov decision processes (MDPs). Our approach is based on extending the linear-programming formulation of policy optimization in MDPs to accommodate convex regularization functions. Our key result is showing that using the conditional entropy of the joint state-action distributions as regularization yields a dual optimization problem closely resembling the Bellman optimality equations. This result enables us to formalize a number of state-of-the-art entropy-regularized reinforcement learning algorithms as approximate variants of Mirror Descent or Dual Averaging, and thus to argue about the convergence properties of these methods. In particular, we show that the exact version of the TRPO algorithm of Schulman et al. (2015) actually converges to the optimal policy, while the entropy-regularized policy gradient methods of Mnih et al. (2016) may fail to converge to a fixed point. Finally, we illustrate empirically the effects of using various regularization techniques on learning performance in a simple reinforcement learning setup.

cs.LG↗

arXiv2016

Action selection in growing state spaces: Control of Network Structure Growth

The dynamical processes taking place on a network depend on its topology. Influencing the growth process of a network therefore has important implications on such dynamical processes. We formulate the problem of influencing the growth of a network as a stochastic optimal control problem in which a structural cost function penalizes undesired topologies. We approximate this control problem with a restricted class of control problems that can be solved using probabilistic inference methods. To deal with the increasing problem dimensionality, we introduce an adaptive importance sampling method for approximating the optimal control. We illustrate this methodology in the context of formation of information cascades, considering the task of influencing the structure of a growing conversation thread, as in Internet forums. Using a realistic model of growing trees, we show that our approach can yield conversation threads with better structural properties than the ones observed without control.

cs.SI↗

arXiv2016

Hierarchical Linearly-Solvable Markov Decision Problems

We present a hierarchical reinforcement learning framework that formulates each task in the hierarchy as a special type of Markov decision process for which the Bellman equation is linear and has analytical solution. Problems of this type, called linearly-solvable MDPs (LMDPs) have interesting properties that can be exploited in a hierarchical setting, such as efficient learning of the optimal value function or task compositionality. The proposed hierarchical approach can also be seen as a novel alternative to solving LMDPs with large state spaces. We derive a hierarchical version of the so-called Z-learning algorithm that learns different tasks simultaneously and show empirically that it significantly outperforms the state-of-the-art learning methods in two classical hierarchical reinforcement learning domains: the taxi domain and an autonomous guided vehicle task.

cs.AI↗

arXiv2014

Latent Kullback Leibler Control for Continuous-State Systems using Probabilistic Graphical Models

Kullback Leibler (KL) control problems allow for efficient computation of optimal control by solving a principal eigenvector problem. However, direct applicability of such framework to continuous state-action systems is limited. In this paper, we propose to embed a KL control problem in a probabilistic graphical model where observed variables correspond to the continuous (possibly high-dimensional) state of the system and latent variables correspond to a discrete (low-dimensional) representation of the state amenable for KL control computation. We present two examples of this approach. The first one uses standard hidden Markov models (HMMs) and computes exact optimal control, but is only applicable to low-dimensional systems. The second one uses factorial HMMs, it is scalable to higher dimensional problems, but control computation is approximate. We illustrate both examples in several robot motor control tasks.

eess.SY↗

arXiv2012

The Variational Garrote

In this paper, we present a new variational method for sparse regression using $L_0$ regularization. The variational parameters appear in the approximate model in a way that is similar to Breiman's Garrote model. We refer to this method as the variational Garrote (VG). We show that the combination of the variational approximation and $L_0$ regularization has the effect of making the problem effectively of maximal rank even when the number of samples is small compared to the number of variables. The VG is compared numerically with the Lasso method, ridge regression and the recently introduced paired mean field method (PMF) (M. Titsias & M. Lázaro-Gredilla., NIPS 2012). Numerical results show that the VG and PMF yield more accurate predictions and more accurately reconstruct the true model than the other methods. It is shown that the VG finds correct solutions when the Lasso solution is inconsistent due to large input correlations. Globally, VG is significantly faster than PMF and tends to perform better as the problems become denser and in problems with strongly correlated inputs. The naive implementation of the VG scales cubic with the number of features. By introducing Lagrange multipliers we obtain a dual formulation of the problem that scales cubic in the number of samples, but close to linear in the number of features.

stat.ME↗

arXiv2012

Learning Price-Elasticity of Smart Consumers in Power Distribution Systems

Demand Response is an emerging technology which will transform the power grid of tomorrow. It is revolutionary, not only because it will enable peak load shaving and will add resources to manage large distribution systems, but mainly because it will tap into an almost unexplored and extremely powerful pool of resources comprised of many small individual consumers on distribution grids. However, to utilize these resources effectively, the methods used to engage these resources must yield accurate and reliable control. A diversity of methods have been proposed to engage these new resources. As opposed to direct load control, many methods rely on consumers and/or loads responding to exogenous signals, typically in the form of energy pricing, originating from the utility or system operator. Here, we propose an open loop communication-lite method for estimating the price elasticity of many customers comprising a distribution system. We utilize a sparse linear regression method that relies on operator-controlled, inhomogeneous minor price variations, which will be fair to all the consumers. Our numerical experiments show that reliable estimation of individual and thus aggregated instantaneous elasticities is possible. We describe the limits of the reliable reconstruction as functions of the three key parameters of the system: (i) ratio of the number of communication slots (time units) per number of engaged consumers; (ii) level of sparsity (in consumer response); and (iii) signal-to-noise ratio.

cs.IT↗

arXiv2012

A likelihood-based framework for the analysis of discussion threads

Online discussion threads are conversational cascades in the form of posted messages that can be generally found in social systems that comprise many-to-many interaction such as blogs, news aggregators or bulletin board systems. We propose a framework based on generative models of growing trees to analyse the structure and evolution of discussion threads. We consider the growth of a discussion to be determined by an interplay between popularity, novelty and a trend (or bias) to reply to the thread originator. The relevance of these features is estimated using a full likelihood approach and allows to characterize the habits and communication patterns of a given platform and/or community.

cs.SI↗