時空間動的相互作用のロバストな教師なし学習
Robust Unsupervised Learning of Temporal Dynamic Interactions
幾何学的軌道として表される時空間的な相互作用を教師なし学習で頑健に表現するため、Procrustes距離と最適輸送に基づく評価指標を導入し、学習の安定性評価やクラスタリングに応用する手法を提案した論文。
著者: Aritra Guha, Rayleigh Lei, Jiacheng Zhu, XuanLong Nguyen, Ding Zhao
分類: cs.LG, cs.MA, cs.RO, stat.AP, stat.ML
原文アブストラクト
Robust representation learning of temporal dynamic interactions is an important problem in robotic learning in general and automated unsupervised learning in particular. Temporal dynamic interactions can be described by (multiple) geometric trajectories in a suitable space over which unsupervised learning techniques may be applied to extract useful features from raw and high-dimensional data measurements. Taking a geometric approach to robust representation learning for temporal dynamic interactions, it is necessary to develop suitable metrics and a systematic methodology for comparison and for assessing the stability of an unsupervised learning method with respect to its tuning parameters. Such metrics must account for the (geometric) constraints in the physical world as well as the uncertainty associated with the learned patterns. In this paper we introduce a model-free metric based on the Procrustes distance for robust representation learning of interactions, and an optimal transport based distance metric for comparing between distributions of interaction primitives. These distance metrics can serve as an objective for assessing the stability of an interaction learning algorithm. They are also used for comparing the outcomes produced by different algorithms. Moreover, they may also be adopted as an objective function to obtain clusters and representative interaction primitives. These concepts and techniques will be introduced, along with mathematical properties, while their usefulness will be demonstrated in unsupervised learning of vehicle-to-vechicle interactions extracted from the Safety Pilot database, the world's largest database for connected vehicles.
