In order for cooperative robots ("co-robots") to respond to human behaviors accurately and efficiently in human-robot collaboration, interpretation of human actions, awareness of new situations, and appropriate decision making are all crucial abilities for co-robots. For this purpose, the human behaviors should be interpreted by co-robots in the same manner as human peers. To address this issue, a novel interpretability indicator is introduced so that robot actions are appropriate to the current human behaviors. In addition, the complete consideration of all potential situations of a robot's environment is nearly impossible in real-world applications, making it difficult for the co-robot to act appropriately and safely in new scenarios. This is true even when the pretrained model is highly accurate in a known situation. For effective and safe teaming with humans, we introduce a new generalizability indicator that allows a co-robot to self-reflect and reason about when an observation falls outside the co-robot's learned model. Based on topic modeling and two novel indicators, we propose a new Self-reflective Risk-aware Artificial Cognitive (SRAC) model. The co-robots are able to consider action risks and identify new situations so that better decisions can be made. Experiments both using real-world datasets and on physical robots suggest that our SRAC model significantly outperforms the traditional methodology and enables better decision making in response to human activities.
Although there is a significant body of work introducing and developing sophisticated topic models, few efforts have been undertaken to evaluate them. Existing methods are dominated by either intrinsic methods, (e.g., computing the probability of held-out documents to evaluate generalization ability @cite_8 ) or extrinsic methods that rely on external tasks, (e.g., information retrieval @cite_33 ). Some work also focused on evaluation of topic modeling's interpretability as semantically coherent concepts. For example, Chang demonstrated that the probability of held-out documents is not always a good indicator of human judgment @cite_56 . Newman showed that metrics based on word co-occurrence statistics are able to predict human evaluations of topic quality @cite_55 .
@cite_55 @cite_56 @cite_33 @cite_8
2144100511 1995866178 2109154616 2050096199
A natural evaluation metric for statistical topic models is the probability of held-out documents given a trained model. While exact computation of this probability is intractable, several estimators for this probability have been used in the topic modeling literature, including the harmonic mean method and empirical likelihood method. In this paper, we demonstrate experimentally that commonly-used methods are unlikely to accurately estimate the probability of held-out documents, and propose two alternative methods that are both accurate and efficient. Topic modeling has been widely used to mine topics from documents. However, a key weakness of topic modeling is that it needs a large amount of data (e.g., thousands of documents) to provide reliable statistics to generate coherent topics. However, in practice, many document collections do not have so many documents. Given a small number of documents, the classic topic model LDA generates very poor topics. Even with a large volume of data, unsupervised learning of topic models can still produce unsatisfactory results. In recently years, knowledge-based topic models have been proposed, which ask human users to provide some prior domain knowledge to guide the model to produce better topics. Our research takes a radically different approach. We propose to learn as humans do, i.e., retaining the results learned in the past and using them to help future learning. When faced with a new task, we first mine some reliable (prior) knowledge from the past learning modeling results and then use it to guide the model inference to generate more coherent topics. This approach is possible because of the big data readily available on the Web. The proposed algorithm mines two forms of knowledge: must-link (meaning that two words should be in the same topic) and cannot-link (meaning that two words should not be in the same topic). It also deals with two problems of the automatically mined knowledge, i.e., wrong knowledge and knowledge transitivity. Experimental results using review documents from 100 product domains show that the proposed approach makes dramatic improvements over state-of-the-art baselines. We propose a new unsupervised learning technique for extracting information from large text collections. We model documents as if they were generated by a two-stage stochastic process. Each author is represented by a probability distribution over topics, and each topic is represented as a probability distribution over words for that topic. The words in a multi-author paper are assumed to be the result of a mixture of each authors' topic mixture. The topic-word and author-topic distributions are learned from data in an unsupervised manner using a Markov chain Monte Carlo algorithm. We apply the methodology to a large corpus of 160,000 abstracts and 85,000 authors from the well-known CiteSeer digital library, and learn a model with 300 topics. We discuss in detail the interpretation of the results discovered by the system including specific topic and author models, ranking of authors by topic and topics by author, significant trends in the computer science literature between 1990 and 2002, parsing of abstracts by topics and authors and detection of unusual papers by specific authors. An online query interface to the model is also discussed that allows interactive exploration of author-topic models for corpora such as CiteSeer. Most existing recommender systems focus on modeling the ratings while ignoring the abundant information embedded in the review text. In this paper, we propose a unified model that combines content-based filtering with collaborative filtering, harnessing the information of both ratings and reviews. We apply topic modeling techniques on the review text and align the topics with rating dimensions to improve prediction accuracy. With the information embedded in the review text, we can alleviate the cold-start problem. Furthermore, our model is able to learn latent topics that are interpretable. With these interpretable topics, we can explore the prior knowledge on items or users and recommend completely "cold"' items. Empirical study on 27 classes of real-life datasets show that our proposed model lead to significant improvement compared with strong baseline methods, especially for datasets which are extremely sparse where rating-only methods cannot make accurate predictions.