arXiv subjects

Yexiang Xue

Publications and source records attributed to Yexiang Xue.

47 records · Page 3Linked to original sources

arXiv2019

DESK: A Robotic Activity Dataset for Dexterous Surgical Skills Transfer to Medical Robots

Datasets are an essential component for training effective machine learning models. In particular, surgical robotic datasets have been key to many advances in semi-autonomous surgeries, skill assessment, and training. Simulated surgical environments can enhance the data collection process by making it faster, simpler and cheaper than real systems. In addition, combining data from multiple robotic domains can provide rich and diverse training data for transfer learning algorithms. In this paper, we present the DESK (Dexterous Surgical Skill) dataset. It comprises a set of surgical robotic skills collected during a surgical training task using three robotic platforms: the Taurus II robot, Taurus II simulated robot, and the YuMi robot. This dataset was used to test the idea of transferring knowledge across different domains (e.g. from Taurus to YuMi robot) for a surgical gesture classification task with seven gestures. We explored three different scenarios: 1) No transfer, 2) Transfer from simulated Taurus to real Taurus and 3) Transfer from Simulated Taurus to the YuMi robot. We conducted extensive experiments with three supervised learning models and provided baselines in each of these scenarios. Results show that using simulation data during training enhances the performance on the real robot where limited real data is available. In particular, we obtained an accuracy of 55% on the real Taurus data using a model that is trained only on the simulator data. Furthermore, we achieved an accuracy improvement of 34% when 3% of the real data is added into the training process.

cs.RO↗

arXiv2018

End-to-End Refinement Guided by Pre-trained Prototypical Classifier

Many real-world tasks involve identifying patterns from data satisfying background or prior knowledge. In domains like materials discovery, due to the flaws and biases in raw experimental data, the identification of X-ray diffraction patterns (XRD) often requires a huge amount of manual work in finding refined phases that are similar to the ideal theoretical ones. Automatically refining the raw XRDs utilizing the simulated theoretical data is thus desirable. We propose imitation refinement, a novel approach to refine imperfect input patterns, guided by a pre-trained classifier incorporating prior knowledge from simulated theoretical data, such that the refined patterns imitate the ideal data. The classifier is trained on the ideal simulated data to classify patterns and learns an embedding space where each class is represented by a prototype. The refiner learns to refine the imperfect patterns with small modifications, such that their embeddings are closer to the corresponding prototypes. We show that the refiner can be trained in both supervised and unsupervised fashions. We further illustrate the effectiveness of the proposed approach both qualitatively and quantitatively in a digit refinement task and an X-ray diffraction pattern refinement task in materials discovery.

cs.CV↗

arXiv2018

End-to-End Learning for the Deep Multivariate Probit Model

The multivariate probit model (MVP) is a popular classic model for studying binary responses of multiple entities. Nevertheless, the computational challenge of learning the MVP model, given that its likelihood involves integrating over a multidimensional constrained space of latent variables, significantly limits its application in practice. We propose a flexible deep generalization of the classic MVP, the Deep Multivariate Probit Model (DMVP), which is an end-to-end learning scheme that uses an efficient parallel sampling process of the multivariate probit model to exploit GPU-boosted deep neural networks. We present both theoretical and empirical analysis of the convergence behavior of DMVP's sampling process with respect to the resolution of the correlation structure. We provide convergence guarantees for DMVP and our empirical analysis demonstrates the advantages of DMVP's sampling compared with standard MCMC-based methods. We also show that when applied to multi-entity modelling problems, which are natural DMVP applications, DMVP trains faster than classical MVP, by at least an order of magnitude, captures rich correlations among entities, and further improves the joint likelihood of entities compared with several competitive models.

cs.LG↗

arXiv2018

Scalable Relaxations of Sparse Packing Constraints: Optimal Biocontrol in Predator-Prey Network

Cascades represent rapid changes in networks. A cascading phenomenon of ecological and economic impact is the spread of invasive species in geographic landscapes. The most promising management strategy is often biocontrol, which entails introducing a natural predator able to control the invading population, a setting that can be treated as two interacting cascades of predator and prey populations. We formulate and study a nonlinear problem of optimal biocontrol: optimally seeding the predator cascade over time to minimize the harmful prey population. Recurring budgets, which typically face conservation organizations, naturally leads to sparse constraints which make the problem amenable to approximation algorithms. Available methods based on continuous relaxations scale poorly, to remedy this we develop a novel and scalable randomized algorithm based on a width relaxation, applicable to a broad class of combinatorial optimization problems. We evaluate our contributions in the context of biocontrol for the insect pest Hemlock Wolly Adelgid (HWA) in eastern North America. Our algorithm outperforms competing methods in terms of scalability and solution quality, and finds near optimal strategies for the control of the HWA for fine-grained networks -- an important problem in computational sustainability.

cs.AI↗

arXiv2017

Multi-Entity Dependence Learning with Rich Context via Conditional Variational Auto-encoder

Multi-Entity Dependence Learning (MEDL) explores conditional correlations among multiple entities. The availability of rich contextual information requires a nimble learning scheme that tightly integrates with deep neural networks and has the ability to capture correlation structures among exponentially many outcomes. We propose MEDL_CVAE, which encodes a conditional multivariate distribution as a generating process. As a result, the variational lower bound of the joint likelihood can be optimized via a conditional variational auto-encoder and trained end-to-end on GPUs. Our MEDL_CVAE was motivated by two real-world applications in computational sustainability: one studies the spatial correlation among multiple bird species using the eBird data and the other models multi-dimensional landscape composition and human footprint in the Amazon rainforest with satellite images. We show that MEDL_CVAE captures rich dependency structures, scales better than previous methods, and further improves on the joint likelihood taking advantage of very large datasets that are beyond the capacity of previous methods.

cs.LG↗

arXiv2017

XOR-Sampling for Network Design with Correlated Stochastic Events

Many network optimization problems can be formulated as stochastic network design problems in which edges are present or absent stochastically. Furthermore, protective actions can guarantee that edges will remain present. We consider the problem of finding the optimal protection strategy under a budget limit in order to maximize some connectivity measurements of the network. Previous approaches rely on the assumption that edges are independent. In this paper, we consider a more realistic setting where multiple edges are not independent due to natural disasters or regional events that make the states of multiple edges stochastically correlated. We use Markov Random Fields to model the correlation and define a new stochastic network design framework. We provide a novel algorithm based on Sample Average Approximation (SAA) coupled with a Gibbs or XOR sampler. The experimental results on real road network data show that the policies produced by SAA with the XOR sampler have higher quality and lower variance compared to SAA with Gibbs sampler.

cs.AI↗

arXiv2017

Deep Multi-Species Embedding

Understanding how species are distributed across landscapes over time is a fundamental question in biodiversity research. Unfortunately, most species distribution models only target a single species at a time, despite strong ecological evidence that species are not independently distributed. We propose Deep Multi-Species Embedding (DMSE), which jointly embeds vectors corresponding to multiple species as well as vectors representing environmental covariates into a common high-dimensional feature space via a deep neural network. Applied to bird observational data from the citizen science project \textit{eBird}, we demonstrate how the DMSE model discovers inter-species relationships to outperform single-species distribution models (random forests and SVMs) as well as competing multi-label models. Additionally, we demonstrate the benefit of using a deep neural network to extract features within the embedding and show how they improve the predictive performance of species distribution modelling. An important domain contribution of the DMSE model is the ability to discover and describe species interactions while simultaneously learning the shared habitat preferences among species. As an additional contribution, we provide a graphical embedding of hundreds of bird species in the Northeast US.

cs.LG↗

arXiv2016

Solving Marginal MAP Problems with NP Oracles and Parity Constraints

Arising from many applications at the intersection of decision making and machine learning, Marginal Maximum A Posteriori (Marginal MAP) Problems unify the two main classes of inference, namely maximization (optimization) and marginal inference (counting), and are believed to have higher complexity than both of them. We propose XOR_MMAP, a novel approach to solve the Marginal MAP Problem, which represents the intractable counting subproblem with queries to NP oracles, subject to additional parity constraints. XOR_MMAP provides a constant factor approximation to the Marginal MAP Problem, by encoding it as a single optimization in polynomial size of the original problem. We evaluate our approach in several machine learning and decision making applications, and show that our approach outperforms several state-of-the-art Marginal MAP solvers.

cs.AI↗

arXiv2016

Phase-Mapper: An AI Platform to Accelerate High Throughput Materials Discovery

High-Throughput materials discovery involves the rapid synthesis, measurement, and characterization of many different but structurally-related materials. A key problem in materials discovery, the phase map identification problem, involves the determination of the crystal phase diagram from the materials' composition and structural characterization data. We present Phase-Mapper, a novel AI platform to solve the phase map identification problem that allows humans to interact with both the data and products of AI algorithms, including the incorporation of human feedback to constrain or initialize solutions. Phase-Mapper affords incorporation of any spectral demixing algorithm, including our novel solver, AgileFD, which is based on a convolutive non-negative matrix factorization algorithm. AgileFD can incorporate constraints to capture the physics of the materials as well as human feedback. We compare three solver variants with previously proposed methods in a large-scale experiment involving 20 synthetic systems, demonstrating the efficacy of imposing physical constrains using AgileFD. Phase-Mapper has also been used by materials scientists to solve a wide variety of phase diagrams, including the previously unsolved Nb-Mn-V oxide system, which is provided here as an illustrative example.

cs.AI↗

arXiv2016

Automated Phase Mapping with AgileFD and its Application to Light Absorber Discovery in the V-Mn-Nb Oxide System

Rapid construction of phase diagrams is a central tenet of combinatorial materials science with accelerated materials discovery efforts often hampered by challenges in interpreting combinatorial x-ray diffraction datasets, which we address by developing AgileFD, an artificial intelligence algorithm that enables rapid phase mapping from a combinatorial library of x-ray diffraction patterns. AgileFD models alloying-based peak shifting through a novel expansion of convolutional nonnegative matrix factorization, which not only improves the identification of constituent phases but also maps their concentration and lattice parameter as a function of composition. By incorporating Gibbs phase rule into the algorithm, physically meaningful phase maps are obtained with unsupervised operation, and more refined solutions are attained by injecting expert knowledge of the system. The algorithm is demonstrated through investigation of the V-Mn-Nb oxide system where decomposition of eight oxide phases, including two with substantial alloying, provides the first phase map for this pseudo-ternary system. This phase map enables interpretation of high-throughput band gap data, leading to the discovery of new solar light absorbers and the alloying-based tuning of the direct-allowed band-gap energy of MnV2O6. The open-source family of AgileFD algorithms can be implemented into a broad range of high throughput workflows to accelerate materials discovery.

cond-mat.mtrl-sci↗

arXiv2016

Variable Elimination in the Fourier Domain

The ability to represent complex high dimensional probability distributions in a compact form is one of the key insights in the field of graphical models. Factored representations are ubiquitous in machine learning and lead to major computational advantages. We explore a different type of compact representation based on discrete Fourier representations, complementing the classical approach based on conditional independencies. We show that a large class of probabilistic graphical models have a compact Fourier representation. This theoretical result opens up an entirely new way of approximating a probability distribution. We demonstrate the significance of this approach by applying it to the variable elimination algorithm. Compared with the traditional bucket representation and other approximate inference algorithms, we obtain significant improvements.

cs.AI↗