Mark Crowley

selected showcase publications

1. Gen-LLE

   Generative locally linear embedding: A module for manifold unfolding and visualization

   Ghojogh, Benyamin, Ghodsi, Ali, Karray, Fakhri, and Crowley, Mark

   Software Impacts 2021

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   Data often have nonlinear patterns in machine learning. One can unfold the nonlinear manifold of a dataset for low-dimensional visualization and feature extraction. Locally Linear Embedding (LLE) is a nonlinear spectral method for dimensionality reduction and manifold unfolding. It embeds data using the same linear reconstruction weights as in the input space. In this paper, we propose an open source module which not only implements LLE, but also includes implementations of two generative LLE algorithms whose linear reconstruction phases are stochastic. Using this module, one can generate as many manifold unfoldings as desired for data visualization or feature extraction.

2. VTFR-LBFGS-21

   Vector Transport Free Riemannian LBFGS for Optimization on Symmetric Positive Definite Matrix Manifolds

   Godaz, Reza, Ghojogh, Benyamin, Hosseini, Reshad, Monsefi, Reza, Karray, Fakhri, and Crowley, Mark

   In Asian Conference on Machine Learning (ACML) 2021

   Abs arXiv PDF Supp Poster URL

   This work concentrates on optimization on Riemannian manifolds. The Limited-memory Broyden–Fletcher–Goldfarb–Shanno (LBFGS) algorithm is a commonly used quasi-Newton method for numerical optimization in Euclidean spaces. Riemannian LBFGS (RLBFGS) is an extension of this method to Riemannian manifolds. RLBFGS involves computationally expensive vector transports as well as unfolding recursions using adjoint vector transports. In this article, we propose two mappings in the tangent space using the inverse second root and Cholesky decomposition. These mappings make both vector transport and adjoint vector transport identity and therefore isometric. Identity vector transport makes RLBFGS less computationally expensive and its isometry is also very useful in convergence analysis of RLBFGS. Moreover, under the proposed mappings, the Riemannian metric reduces to Euclidean inner product, which is much less computationally expensive. We focus on the Symmetric Positive Definite (SPD) manifolds which are beneficial in various fields such as data science and statistics. This work opens a research opportunity for extension of the proposed mappings to other well-known manifolds.

3. Partially Observable Mean Field Reinforcement Learning

   Ganapathi Subramanian, Sriram, Taylor, Matthew, Crowley, Mark, and Poupart, Pascal

   In Proceedings of the 20th International Conference on Autonomous Agents and MultiAgent Systems (AAMAS) 2021

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   Traditional multi-agent reinforcement learning algorithms are not scalable to environments with more than a few agents, since these algorithms are exponential in the number of agents. Recent research has introduced successful methods to scale multi-agent reinforcement learning algorithms to many agent scenarios using mean field theory. Previous work in this field assumes that an agent has access to exact cumulative metrics regarding the mean field behaviour of the system, which it can then use to take its actions. In this paper, we relax this assumption and maintain a distribution to model the uncertainty regarding the mean field of the system. We consider two different settings for this problem. In the first setting, only agents in a fixed neighbourhood are visible, while in the second setting, the visibility of agents is determined at random based on distances. For each of these settings, we introduce a Q-learning based algorithm that can learn effectively. We prove that this Q-learning estimate stays very close to the Nash Q-value (under a common set of assumptions) for the first setting. We also empirically show our algorithms outperform multiple baselines in three different games in the MAgents framework, which supports large environments with many agents learning simultaneously to achieve possibly distinct goals.

4. Amrl

   Active Measure Reinforcement Learning for Observation Cost Minimization: A framework for minimizing measurement costs in reinforcement learning

   Bellinger, Colin, Coles, Rory, Crowley, Mark, and Tamblyn, Isaac

   In Canadian Conference on Artificial Intelligence 2021

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   Markov Decision Processes (MDP) with explicit measurement cost are a class of en- vironments in which the agent learns to maximize the costed return. Here, we define the costed return as the discounted sum of rewards minus the sum of the explicit cost of measuring the next state. The RL agent can freely explore the relationship between actions and rewards but is charged each time it measures the next state. Thus, an op- timal agent must learn a policy without making a large number of measurements. We propose the active measure RL framework (Amrl) as a solution to this novel class of problem, and contrast it with standard reinforcement learning under full observability and planning under partially observability. We demonstrate that Amrl-Q agents learn to shift from a reliance on costly measurements to exploiting a learned transition model in order to reduce the number of real-world measurements and achieve a higher costed return. Our results demonstrate the superiority of Amrl-Q over standard RL methods, Q-learning and Dyna-Q, and POMCP for planning under a POMDP in environments with explicit measurement costs.

5. Recognition of a Robot’s Affective Expressions under Conditions with Limited Visibility

   Ghafurian, Moojan, Akgun, Sami Alperen, Crowley, Mark, and Dautenhahn, Kerstin

   In 18th International Conference promoted by the IFIP Technical Committee 13 on Human–Computer Interaction (INTERACT 2021) 2021

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   The capability of showing affective expressions is important for the design of social robots in many contexts, especially where the robot is designed to communicate with humans. It is reasonable to expect that, similar to all other interaction modalities, communicating with affective expressions is not without limitations. In this paper, we present two online video studies (N=72 and N=50) and investigate if/how much the recognition of affective displays of a zoomorphic robot is affected under situations with different levels of visibility. Five affective expressions combined with five visibility effects were studied. The intensity of the effects was more pronounced in the second experiment. While visual constraints affected recognition of expressions, our results showed that affective displays of the robot conveyed through its head and body gestures can be robust and recognition rates can still be high even under severe constraints. This study supported the effectiveness of using affective displays as a complementary communication modality in human-robot interaction in situations with low visibility.