Probabilistic Robotics

Probabilistic Robotics
Author: Sebastian Thrun
Publisher: MIT Press
Total Pages: 668
Release: 2005-08-19
Genre: Technology & Engineering
ISBN: 0262201623

An introduction to the techniques and algorithms of the newest field in robotics. Probabilistic robotics is a new and growing area in robotics, concerned with perception and control in the face of uncertainty. Building on the field of mathematical statistics, probabilistic robotics endows robots with a new level of robustness in real-world situations. This book introduces the reader to a wealth of techniques and algorithms in the field. All algorithms are based on a single overarching mathematical foundation. Each chapter provides example implementations in pseudo code, detailed mathematical derivations, discussions from a practitioner's perspective, and extensive lists of exercises and class projects. The book's Web site, www.probabilistic-robotics.org, has additional material. The book is relevant for anyone involved in robotic software development and scientific research. It will also be of interest to applied statisticians and engineers dealing with real-world sensor data.

Dynamic Speech Models

Dynamic Speech Models
Author: Li Deng
Publisher: Springer Nature
Total Pages: 105
Release: 2022-05-31
Genre: Technology & Engineering
ISBN: 3031025555

Speech dynamics refer to the temporal characteristics in all stages of the human speech communication process. This speech “chain” starts with the formation of a linguistic message in a speaker's brain and ends with the arrival of the message in a listener's brain. Given the intricacy of the dynamic speech process and its fundamental importance in human communication, this monograph is intended to provide a comprehensive material on mathematical models of speech dynamics and to address the following issues: How do we make sense of the complex speech process in terms of its functional role of speech communication? How do we quantify the special role of speech timing? How do the dynamics relate to the variability of speech that has often been said to seriously hamper automatic speech recognition? How do we put the dynamic process of speech into a quantitative form to enable detailed analyses? And finally, how can we incorporate the knowledge of speech dynamics into computerized speech analysis and recognition algorithms? The answers to all these questions require building and applying computational models for the dynamic speech process. What are the compelling reasons for carrying out dynamic speech modeling? We provide the answer in two related aspects. First, scientific inquiry into the human speech code has been relentlessly pursued for several decades. As an essential carrier of human intelligence and knowledge, speech is the most natural form of human communication. Embedded in the speech code are linguistic (as well as para-linguistic) messages, which are conveyed through four levels of the speech chain. Underlying the robust encoding and transmission of the linguistic messages are the speech dynamics at all the four levels. Mathematical modeling of speech dynamics provides an effective tool in the scientific methods of studying the speech chain. Such scientific studies help understand why humans speak as they do and how humans exploit redundancy and variability by way of multitiered dynamic processes to enhance the efficiency and effectiveness of human speech communication. Second, advancement of human language technology, especially that in automatic recognition of natural-style human speech is also expected to benefit from comprehensive computational modeling of speech dynamics. The limitations of current speech recognition technology are serious and are well known. A commonly acknowledged and frequently discussed weakness of the statistical model underlying current speech recognition technology is the lack of adequate dynamic modeling schemes to provide correlation structure across the temporal speech observation sequence. Unfortunately, due to a variety of reasons, the majority of current research activities in this area favor only incremental modifications and improvements to the existing HMM-based state-of-the-art. For example, while the dynamic and correlation modeling is known to be an important topic, most of the systems nevertheless employ only an ultra-weak form of speech dynamics; e.g., differential or delta parameters. Strong-form dynamic speech modeling, which is the focus of this monograph, may serve as an ultimate solution to this problem. After the introduction chapter, the main body of this monograph consists of four chapters. They cover various aspects of theory, algorithms, and applications of dynamic speech models, and provide a comprehensive survey of the research work in this area spanning over past 20~years. This monograph is intended as advanced materials of speech and signal processing for graudate-level teaching, for professionals and engineering practioners, as well as for seasoned researchers and engineers specialized in speech processing

Decision Making Under Uncertainty

Decision Making Under Uncertainty
Author: Mykel J. Kochenderfer
Publisher: MIT Press
Total Pages: 350
Release: 2015-07-24
Genre: Computers
ISBN: 0262331713

An introduction to decision making under uncertainty from a computational perspective, covering both theory and applications ranging from speech recognition to airborne collision avoidance. Many important problems involve decision making under uncertainty—that is, choosing actions based on often imperfect observations, with unknown outcomes. Designers of automated decision support systems must take into account the various sources of uncertainty while balancing the multiple objectives of the system. This book provides an introduction to the challenges of decision making under uncertainty from a computational perspective. It presents both the theory behind decision making models and algorithms and a collection of example applications that range from speech recognition to aircraft collision avoidance. Focusing on two methods for designing decision agents, planning and reinforcement learning, the book covers probabilistic models, introducing Bayesian networks as a graphical model that captures probabilistic relationships between variables; utility theory as a framework for understanding optimal decision making under uncertainty; Markov decision processes as a method for modeling sequential problems; model uncertainty; state uncertainty; and cooperative decision making involving multiple interacting agents. A series of applications shows how the theoretical concepts can be applied to systems for attribute-based person search, speech applications, collision avoidance, and unmanned aircraft persistent surveillance. Decision Making Under Uncertainty unifies research from different communities using consistent notation, and is accessible to students and researchers across engineering disciplines who have some prior exposure to probability theory and calculus. It can be used as a text for advanced undergraduate and graduate students in fields including computer science, aerospace and electrical engineering, and management science. It will also be a valuable professional reference for researchers in a variety of disciplines.

Bayesian Networks in R

Bayesian Networks in R
Author: Radhakrishnan Nagarajan
Publisher: Springer Science & Business Media
Total Pages: 168
Release: 2014-07-08
Genre: Computers
ISBN: 1461464463

Bayesian Networks in R with Applications in Systems Biology is unique as it introduces the reader to the essential concepts in Bayesian network modeling and inference in conjunction with examples in the open-source statistical environment R. The level of sophistication is also gradually increased across the chapters with exercises and solutions for enhanced understanding for hands-on experimentation of the theory and concepts. The application focuses on systems biology with emphasis on modeling pathways and signaling mechanisms from high-throughput molecular data. Bayesian networks have proven to be especially useful abstractions in this regard. Their usefulness is especially exemplified by their ability to discover new associations in addition to validating known ones across the molecules of interest. It is also expected that the prevalence of publicly available high-throughput biological data sets may encourage the audience to explore investigating novel paradigms using the approaches presented in the book.

Federated Learning

Federated Learning
Author: Qiang Yang
Publisher: Springer Nature
Total Pages: 291
Release: 2020-11-25
Genre: Computers
ISBN: 3030630765

This book provides a comprehensive and self-contained introduction to federated learning, ranging from the basic knowledge and theories to various key applications. Privacy and incentive issues are the focus of this book. It is timely as federated learning is becoming popular after the release of the General Data Protection Regulation (GDPR). Since federated learning aims to enable a machine model to be collaboratively trained without each party exposing private data to others. This setting adheres to regulatory requirements of data privacy protection such as GDPR. This book contains three main parts. Firstly, it introduces different privacy-preserving methods for protecting a federated learning model against different types of attacks such as data leakage and/or data poisoning. Secondly, the book presents incentive mechanisms which aim to encourage individuals to participate in the federated learning ecosystems. Last but not least, this book also describes how federated learning can be applied in industry and business to address data silo and privacy-preserving problems. The book is intended for readers from both the academia and the industry, who would like to learn about federated learning, practice its implementation, and apply it in their own business. Readers are expected to have some basic understanding of linear algebra, calculus, and neural network. Additionally, domain knowledge in FinTech and marketing would be helpful.”

Gaussian Processes for Machine Learning

Gaussian Processes for Machine Learning
Author: Carl Edward Rasmussen
Publisher: MIT Press
Total Pages: 266
Release: 2005-11-23
Genre: Computers
ISBN: 026218253X

A comprehensive and self-contained introduction to Gaussian processes, which provide a principled, practical, probabilistic approach to learning in kernel machines. Gaussian processes (GPs) provide a principled, practical, probabilistic approach to learning in kernel machines. GPs have received increased attention in the machine-learning community over the past decade, and this book provides a long-needed systematic and unified treatment of theoretical and practical aspects of GPs in machine learning. The treatment is comprehensive and self-contained, targeted at researchers and students in machine learning and applied statistics. The book deals with the supervised-learning problem for both regression and classification, and includes detailed algorithms. A wide variety of covariance (kernel) functions are presented and their properties discussed. Model selection is discussed both from a Bayesian and a classical perspective. Many connections to other well-known techniques from machine learning and statistics are discussed, including support-vector machines, neural networks, splines, regularization networks, relevance vector machines and others. Theoretical issues including learning curves and the PAC-Bayesian framework are treated, and several approximation methods for learning with large datasets are discussed. The book contains illustrative examples and exercises, and code and datasets are available on the Web. Appendixes provide mathematical background and a discussion of Gaussian Markov processes.

Numerical Algorithms

Numerical Algorithms
Author: Justin Solomon
Publisher: CRC Press
Total Pages: 400
Release: 2015-06-24
Genre: Computers
ISBN: 1482251892

Numerical Algorithms: Methods for Computer Vision, Machine Learning, and Graphics presents a new approach to numerical analysis for modern computer scientists. Using examples from a broad base of computational tasks, including data processing, computational photography, and animation, the textbook introduces numerical modeling and algorithmic desig

Graph Representation Learning

Graph Representation Learning
Author: William L. William L. Hamilton
Publisher: Springer Nature
Total Pages: 141
Release: 2022-06-01
Genre: Computers
ISBN: 3031015886

Graph-structured data is ubiquitous throughout the natural and social sciences, from telecommunication networks to quantum chemistry. Building relational inductive biases into deep learning architectures is crucial for creating systems that can learn, reason, and generalize from this kind of data. Recent years have seen a surge in research on graph representation learning, including techniques for deep graph embeddings, generalizations of convolutional neural networks to graph-structured data, and neural message-passing approaches inspired by belief propagation. These advances in graph representation learning have led to new state-of-the-art results in numerous domains, including chemical synthesis, 3D vision, recommender systems, question answering, and social network analysis. This book provides a synthesis and overview of graph representation learning. It begins with a discussion of the goals of graph representation learning as well as key methodological foundations in graph theory and network analysis. Following this, the book introduces and reviews methods for learning node embeddings, including random-walk-based methods and applications to knowledge graphs. It then provides a technical synthesis and introduction to the highly successful graph neural network (GNN) formalism, which has become a dominant and fast-growing paradigm for deep learning with graph data. The book concludes with a synthesis of recent advancements in deep generative models for graphs—a nascent but quickly growing subset of graph representation learning.

Introduction to Applied Linear Algebra

Introduction to Applied Linear Algebra
Author: Stephen Boyd
Publisher: Cambridge University Press
Total Pages: 477
Release: 2018-06-07
Genre: Business & Economics
ISBN: 1316518965

A groundbreaking introduction to vectors, matrices, and least squares for engineering applications, offering a wealth of practical examples.