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Register a new userLeveraging Post Hoc Context for Faster Learning in Bandit Settings with Applications in Robot-Assisted Feeding
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Added by
Ethan Gordon
Publication date
2020
fields
Informatics Engineering
and research's language is
English
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Autonomous robot-assisted feeding requires the ability to acquire a wide variety of food items. However, it is impossible for such a system to be trained on all types of food in existence. Therefore, a key challenge is choosing a manipulation strategy for a previously unseen food item. Previous work showed that the problem can be represented as a linear bandit with visual context. However, food has a wide variety of multi-modal properties relevant to manipulation that can be hard to distinguish visually. Our key insight is that we can leverage the haptic context we collect during and after manipulation (i.e., post hoc) to learn some of these properties and more quickly adapt our visual model to previously unseen food. In general, we propose a modified linear contextual bandit framework augmented with post hoc context observed after action selection to empirically increase learning speed and reduce cumulative regret. Experiments on synthetic data demonstrate that this effect is more pronounced when the dimensionality of the context is large relative to the post hoc context or when the post hoc context model is particularly easy to learn. Finally, we apply this framework to the bite acquisition problem and demonstrate the acquisition of 8 previously unseen types of food with 21% fewer failures across 64 attempts.
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State-of-the-art recommender systems have the ability to generate high-quality recommendations, but usually cannot provide intuitive explanations to humans due to the usage of black-box prediction models. The lack of transparency has highlighted the critical importance of improving the explainability of recommender systems. In this paper, we propose to extract causal rules from the user interaction history as post-hoc explanations for the black-box sequential recommendation mechanisms, whilst maintain the predictive accuracy of the recommendation model. Our approach firstly achieves counterfactual examples with the aid of a perturbation model, and then extracts personalized causal relationships for the recommendation model through a causal rule mining algorithm. Experiments are conducted on several state-of-the-art sequential recommendation models and real-world datasets to verify the performance of our model on generating causal explanations. Meanwhile, We evaluate the discovered causal explanations in terms of quality and fidelity, which show that compared with conventional association rules, causal rules can provide personalized and more effective explanations for the behavior of black-box recommendation models.
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