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Repairing Learned Controllers with Convex Optimization: A Case Study

Guidotti, Dario and Leofante, Francesco and Castellini, Claudio and Tacchella, Armando (2019) Repairing Learned Controllers with Convex Optimization: A Case Study. In: 16th International Conference on the Integration of Constraint Programming, Artificial Intelligence, and Operations Research, CPAIOR 2019, 11494, pp. 364-373. Springer. International Conference on Integration of Constraint Programming, Artificial Intelligence, and Operations Research, 2019-06-04 - 2019-06-07, Thessaloniki, Greece. doi: 10.1007/978-3-030-19212-9_24. ISBN 978-3-030-19211-2.

Full text not available from this repository.

Official URL: https://dx.doi.org/10.1007/978-3-030-19212-9_24

Abstract

Despite the increasing popularity of Machine Learning methods, their usage in safety-critical applications is sometimes limited by the impossibility of providing formal guarantees on their behaviour. In this work we focus on one such application, where Kernel Ridge Regression with Random Fourier Features is used to learn controllers for a prosthetic hand. Due to the non-linearity of the activation function used, these controllers sometimes fail in correctly identifying users’ intention. Under specific circumstances muscular activation levels may be misinterpreted by the method, resulting in the prosthetic hand not behaving as intended. To alleviate this problem, we propose a novel method to verify the presence of this kind of intent detection mismatch and to repair controllers leveraging off-the-shelf LP technology without using additional data. We demonstrate the feasibility of our approach using datasets gathered from human participants.

Item URL in elib:https://elib.dlr.de/193684/
Document Type:Conference or Workshop Item (Speech)
Title:Repairing Learned Controllers with Convex Optimization: A Case Study
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Guidotti, DarioUniversität Genua, ItalienUNSPECIFIEDUNSPECIFIED
Leofante, FrancescoUniversität Genua, ItalienUNSPECIFIEDUNSPECIFIED
Castellini, ClaudioUNSPECIFIEDhttps://orcid.org/0000-0002-7346-2180UNSPECIFIED
Tacchella, ArmandoUniversität Genua, ItalienUNSPECIFIEDUNSPECIFIED
Date:April 2019
Journal or Publication Title:16th International Conference on the Integration of Constraint Programming, Artificial Intelligence, and Operations Research, CPAIOR 2019
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Volume:11494
DOI:10.1007/978-3-030-19212-9_24
Page Range:pp. 364-373
Publisher:Springer
Series Name:Lecture Notes in Computer Science
ISBN:978-3-030-19211-2
Status:Published
Keywords:convex optimization
Event Title:International Conference on Integration of Constraint Programming, Artificial Intelligence, and Operations Research
Event Location:Thessaloniki, Greece
Event Type:international Conference
Event Start Date:4 June 2019
Event End Date:7 June 2019
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Medical Assistance Systems [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Strobl, Dr. Klaus H.
Deposited On:28 Jan 2023 12:07
Last Modified:24 Apr 2024 20:54

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