ALMA

Human Centric Algebraic Machine Learning

Main researcher: A. Jardon

ALMA

Description

Algebraic Machine Learning (AML) has recently been proposed as new learning paradigm that builds upon Abstract Algebra, Model Theory. Unlike other popular learning algorithms, AML is not a statistical method, but it produces generalizing models from semantic embeddings of data into discrete algebraic structures, with the following properties:
  • P1: Is far less sensitive to the statistical characteristics of the training data and does not fit (or even use) parameters
  • P2: Has the potential to seamlessly integrate unstructured and complex information contained in training data, with a formal representation of human knowledge and requirements;
  • P3. Uses internal representations based on discrete sets and graphs, offering a good starting point for generating human understandable, descriptions of what, why and how has been learned
  • P4. Can be implemented in a distributed way that avoids centralized, privacy-invasive collections of large data sets in favor of a collaboration of many local learners at the level of learned partial representations.

The aim of the project is to leverage the above properties of AML for a new generation of Interactive, Human-Centric Machine Learning systems., that will:
  • Reduce bias and prevent discrimination by reducing dependence on statistical properties of training data (P1), integrating human knowledge with constraints (P2), and exploring the how and why of the learning process (P3)
  • Facilitate trust and reliability by respecting ‘hard’ human-defined constraints in the learning process (P2) and enhancing explainability of the learning process (P3)
  • Integrate complex ethical constraints into Human-AI systems by going beyond basic bias and discrimination prevention (P2) to interactively shaping the ethics related to the learning process between humans and the AI system (P3)
  • Facilitate a new distributed, incremental collaborative learning method by going beyond the dominant off-line and centralized data processing approach (P4)

Entries:
Visual Approach Skill for a Mobile Robot using Learning and Fusion of Simple Skills
Robotics and Autonomous Systems. num. 3 , vol. 38 , pages: 157 – 170 , 2002
R. Barber M.A. Salichs
Navigation of Mobile Robots: Open Questions
Robotica. num. 3 , vol. 18 , pages: 227 – 234 , 2000
L. Moreno M.A. Salichs
Visual Approach Skill for a Mobile Robot using Learning and Fusion of Simple Skills
Robotics and Autonomous Systems. num. 3 , vol. 38 , pages: 157 – 170 , 2002
R. Barber M.A. Salichs
Navigation of Mobile Robots: Open Questions
Robotica. num. 3 , vol. 18 , pages: 227 – 234 , 2000
L. Moreno M.A. Salichs
Visual Approach Skill for a Mobile Robot using Learning and Fusion of Simple Skills
Robotics and Autonomous Systems. num. 3 , vol. 38 , pages: 157 – 170 , 2002
R. Barber M.A. Salichs
Navigation of Mobile Robots: Open Questions
Robotica. num. 3 , vol. 18 , pages: 227 – 234 , 2000
L. Moreno M.A. Salichs
Visual Approach Skill for a Mobile Robot using Learning and Fusion of Simple Skills
Robotics and Autonomous Systems. num. 3 , vol. 38 , pages: 157 – 170 , 2002
R. Barber M.A. Salichs
Navigation of Mobile Robots: Open Questions
Robotica. num. 3 , vol. 18 , pages: 227 – 234 , 2000
L. Moreno M.A. Salichs

Entries:
Voronoi Diagram and Fast Marching applied to Path Planning
2006 IEEE International conference on Robotics and Automation. ICRA 2006, 2006, Orlando,Florida, USA
S. Garrido D. Blanco L. Moreno
Autonomous Monitoring And Reaction To Failures In A Topological Navigation System
2nd International Conference on Informatics in Control, Automation and Robotics, 2005, Barcelona, Spain
V. Egido R. Barber M.A. Salichs
A Door Lintel Locator Sensor for Mobile Robot Topological Navigation
IEEE International Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications, 2005, Sofia, Bulgaria
V. Egido R. Barber M.A. Salichs
A Framework For Complex Skill Generation
The 5th IFAC Symposium on Intelligent Autonomous Vehicles. Lisboa, 2004, Lisboa, Portugal
M. Rivero R. Barber M.A. Salichs
A Planner For Topological Navigation Based On Previous Experiences
The 5th IFAC Symposium on Intelligent Autonomous Vehicles, 2004, Lisboa, Portugal
V. Egido R. Barber M.A. Salichs
An Agent Based Framework For Sequencing Autonomous Robots Skills
The 8th Conference on Intelligent Autonomous Systems, 2004, Amsterdam, The Netherlands
M. Rivero R. Barber M.A. Salichs
Using learned visual landmarks for intelligent topological navigation of mobile robots
IEEE International Conference on Robotics and Automation, Taipei, Taiwan
M.A. Salichs
A control System Based on Reactive Skills for Autonomous Mobile Robots
The 11th International Conference on Advanced Robotics, 2003, Coimbra, Portugal
R. Barber M.A. Salichs
A Perception System based on Laser Information for Mobile Robot Topologic Navigation
IEEE Int. Conference on Industrial Electronics, Control and Instrumentation, 2002, Sevilla, Spain
R. Barber M.A. Salichs
Continuous Reinforcement Learning Algorithm for Skills Learning in an Autonomous Mobile Robot
IEEE Int. Conference on Industrial Electronics, Control and Instrumentation, 2002, Sevilla, Spain
V. Egido R. Barber M.A. Salichs
Corridor exploration in the EDN Navigation System
15th IFAC World Congress on Automatic Control, 2002, Barcelona, Spain
V. Egido R. Barber M.A. Salichs
Learning Visual Landmarks for Mobile Robot Navigation
15th IFAC World Congress on Automatic Control. Barcelona, Barcelona, Spain
M.A. Salichs
Self-Generation by a Mobile Robot of Topological Maps of Corridors
IEEE International Conference on Robotics and Automation, 2002, Washington, USA
V. Egido R. Barber M.A. Salichs
Skills´ Learning in an Autonomous Mobile Robot Using Continous Reinforcement
IFAC Workshop on Advanced Fuzzy-Neural Control, 2002, Valencia, Spain
M.A. Salichs
A new human based architecture for intelligent autonomous robots
IFAC Symposium on Intelligent Autonomous Vehicles, 2002, Sapporo, Japan
R. Barber M.A. Salichs
Visual Tracking Skill Reinforcement Learning for a Mobile Robot
IFAC Symposium on Intelligent Autonomous Vehicles, 2002, Sapporo, Japan
M.A. Salichs
Mobile Robot Navigation Based on Event Maps
3rd International Conference on Field and Service Robotics, 2001, Helsinki, Filand
R. Barber M.A. Salichs
Algorithm of Topological Map Generation for the EDN Navigation System
IFAC Workshop on Mobile Robot Technology, 2001, Jejudo Island, Korea
V. Egido R. Barber M.A. Salichs
A Visual Landmark Recognition System for Topological Navigation of Mobile Robots
IEEE International Conference on Robotics and Automation, 2001, Seoul, Korea
M.A. Salichs
Navigation of Mobile Robots: Learning from Human Beings
Plenary Session. IFAC Workshop on Mobile Robot Tecnology, Jejudo Island, Korea
M.A. Salichs
Voronoi Diagram and Fast Marching applied to Path Planning
2006 IEEE International conference on Robotics and Automation. ICRA 2006, 2006, Orlando,Florida, USA
S. Garrido D. Blanco L. Moreno
Autonomous Monitoring And Reaction To Failures In A Topological Navigation System
2nd International Conference on Informatics in Control, Automation and Robotics, 2005, Barcelona, Spain
V. Egido R. Barber M.A. Salichs
A Door Lintel Locator Sensor for Mobile Robot Topological Navigation
IEEE International Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications, 2005, Sofia, Bulgaria
V. Egido R. Barber M.A. Salichs
A Framework For Complex Skill Generation
The 5th IFAC Symposium on Intelligent Autonomous Vehicles. Lisboa, 2004, Lisboa, Portugal
M. Rivero R. Barber M.A. Salichs
A Planner For Topological Navigation Based On Previous Experiences
The 5th IFAC Symposium on Intelligent Autonomous Vehicles, 2004, Lisboa, Portugal
V. Egido R. Barber M.A. Salichs
An Agent Based Framework For Sequencing Autonomous Robots Skills
The 8th Conference on Intelligent Autonomous Systems, 2004, Amsterdam, The Netherlands
M. Rivero R. Barber M.A. Salichs
Using learned visual landmarks for intelligent topological navigation of mobile robots
IEEE International Conference on Robotics and Automation, Taipei, Taiwan
M.A. Salichs
A control System Based on Reactive Skills for Autonomous Mobile Robots
The 11th International Conference on Advanced Robotics, 2003, Coimbra, Portugal
R. Barber M.A. Salichs
A Perception System based on Laser Information for Mobile Robot Topologic Navigation
IEEE Int. Conference on Industrial Electronics, Control and Instrumentation, 2002, Sevilla, Spain
R. Barber M.A. Salichs
Continuous Reinforcement Learning Algorithm for Skills Learning in an Autonomous Mobile Robot
IEEE Int. Conference on Industrial Electronics, Control and Instrumentation, 2002, Sevilla, Spain
V. Egido R. Barber M.A. Salichs
Corridor exploration in the EDN Navigation System
15th IFAC World Congress on Automatic Control, 2002, Barcelona, Spain
V. Egido R. Barber M.A. Salichs
Learning Visual Landmarks for Mobile Robot Navigation
15th IFAC World Congress on Automatic Control. Barcelona, Barcelona, Spain
M.A. Salichs
Self-Generation by a Mobile Robot of Topological Maps of Corridors
IEEE International Conference on Robotics and Automation, 2002, Washington, USA
V. Egido R. Barber M.A. Salichs
Skills´ Learning in an Autonomous Mobile Robot Using Continous Reinforcement
IFAC Workshop on Advanced Fuzzy-Neural Control, 2002, Valencia, Spain
M.A. Salichs
A new human based architecture for intelligent autonomous robots
IFAC Symposium on Intelligent Autonomous Vehicles, 2002, Sapporo, Japan
R. Barber M.A. Salichs
Visual Tracking Skill Reinforcement Learning for a Mobile Robot
IFAC Symposium on Intelligent Autonomous Vehicles, 2002, Sapporo, Japan
M.A. Salichs
Mobile Robot Navigation Based on Event Maps
3rd International Conference on Field and Service Robotics, 2001, Helsinki, Filand
R. Barber M.A. Salichs
Algorithm of Topological Map Generation for the EDN Navigation System
IFAC Workshop on Mobile Robot Technology, 2001, Jejudo Island, Korea
V. Egido R. Barber M.A. Salichs
A Visual Landmark Recognition System for Topological Navigation of Mobile Robots
IEEE International Conference on Robotics and Automation, 2001, Seoul, Korea
M.A. Salichs
Navigation of Mobile Robots: Learning from Human Beings
Plenary Session. IFAC Workshop on Mobile Robot Tecnology, Jejudo Island, Korea
M.A. Salichs
Voronoi Diagram and Fast Marching applied to Path Planning
2006 IEEE International conference on Robotics and Automation. ICRA 2006, 2006, Orlando,Florida, USA
S. Garrido D. Blanco L. Moreno
Autonomous Monitoring And Reaction To Failures In A Topological Navigation System
2nd International Conference on Informatics in Control, Automation and Robotics, 2005, Barcelona, Spain
V. Egido R. Barber M.A. Salichs
A Door Lintel Locator Sensor for Mobile Robot Topological Navigation
IEEE International Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications, 2005, Sofia, Bulgaria
V. Egido R. Barber M.A. Salichs
A Framework For Complex Skill Generation
The 5th IFAC Symposium on Intelligent Autonomous Vehicles. Lisboa, 2004, Lisboa, Portugal
M. Rivero R. Barber M.A. Salichs
A Planner For Topological Navigation Based On Previous Experiences
The 5th IFAC Symposium on Intelligent Autonomous Vehicles, 2004, Lisboa, Portugal
V. Egido R. Barber M.A. Salichs
An Agent Based Framework For Sequencing Autonomous Robots Skills
The 8th Conference on Intelligent Autonomous Systems, 2004, Amsterdam, The Netherlands
M. Rivero R. Barber M.A. Salichs
Using learned visual landmarks for intelligent topological navigation of mobile robots
IEEE International Conference on Robotics and Automation, Taipei, Taiwan
M.A. Salichs
A control System Based on Reactive Skills for Autonomous Mobile Robots
The 11th International Conference on Advanced Robotics, 2003, Coimbra, Portugal
R. Barber M.A. Salichs
A Perception System based on Laser Information for Mobile Robot Topologic Navigation
IEEE Int. Conference on Industrial Electronics, Control and Instrumentation, 2002, Sevilla, Spain
R. Barber M.A. Salichs
Continuous Reinforcement Learning Algorithm for Skills Learning in an Autonomous Mobile Robot
IEEE Int. Conference on Industrial Electronics, Control and Instrumentation, 2002, Sevilla, Spain
V. Egido R. Barber M.A. Salichs
Corridor exploration in the EDN Navigation System
15th IFAC World Congress on Automatic Control, 2002, Barcelona, Spain
V. Egido R. Barber M.A. Salichs
Learning Visual Landmarks for Mobile Robot Navigation
15th IFAC World Congress on Automatic Control. Barcelona, Barcelona, Spain
M.A. Salichs
Self-Generation by a Mobile Robot of Topological Maps of Corridors
IEEE International Conference on Robotics and Automation, 2002, Washington, USA
V. Egido R. Barber M.A. Salichs
Skills´ Learning in an Autonomous Mobile Robot Using Continous Reinforcement
IFAC Workshop on Advanced Fuzzy-Neural Control, 2002, Valencia, Spain
M.A. Salichs
A new human based architecture for intelligent autonomous robots
IFAC Symposium on Intelligent Autonomous Vehicles, 2002, Sapporo, Japan
R. Barber M.A. Salichs
Visual Tracking Skill Reinforcement Learning for a Mobile Robot
IFAC Symposium on Intelligent Autonomous Vehicles, 2002, Sapporo, Japan
M.A. Salichs
Mobile Robot Navigation Based on Event Maps
3rd International Conference on Field and Service Robotics, 2001, Helsinki, Filand
R. Barber M.A. Salichs
Algorithm of Topological Map Generation for the EDN Navigation System
IFAC Workshop on Mobile Robot Technology, 2001, Jejudo Island, Korea
V. Egido R. Barber M.A. Salichs
A Visual Landmark Recognition System for Topological Navigation of Mobile Robots
IEEE International Conference on Robotics and Automation, 2001, Seoul, Korea
M.A. Salichs
Navigation of Mobile Robots: Learning from Human Beings
Plenary Session. IFAC Workshop on Mobile Robot Tecnology, Jejudo Island, Korea
M.A. Salichs
Voronoi Diagram and Fast Marching applied to Path Planning
2006 IEEE International conference on Robotics and Automation. ICRA 2006, 2006, Orlando,Florida, USA
S. Garrido D. Blanco L. Moreno
Autonomous Monitoring And Reaction To Failures In A Topological Navigation System
2nd International Conference on Informatics in Control, Automation and Robotics, 2005, Barcelona, Spain
V. Egido R. Barber M.A. Salichs
A Door Lintel Locator Sensor for Mobile Robot Topological Navigation
IEEE International Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications, 2005, Sofia, Bulgaria
V. Egido R. Barber M.A. Salichs
A Framework For Complex Skill Generation
The 5th IFAC Symposium on Intelligent Autonomous Vehicles. Lisboa, 2004, Lisboa, Portugal
M. Rivero R. Barber M.A. Salichs
A Planner For Topological Navigation Based On Previous Experiences
The 5th IFAC Symposium on Intelligent Autonomous Vehicles, 2004, Lisboa, Portugal
V. Egido R. Barber M.A. Salichs
An Agent Based Framework For Sequencing Autonomous Robots Skills
The 8th Conference on Intelligent Autonomous Systems, 2004, Amsterdam, The Netherlands
M. Rivero R. Barber M.A. Salichs
Using learned visual landmarks for intelligent topological navigation of mobile robots
IEEE International Conference on Robotics and Automation, Taipei, Taiwan
M.A. Salichs
A control System Based on Reactive Skills for Autonomous Mobile Robots
The 11th International Conference on Advanced Robotics, 2003, Coimbra, Portugal
R. Barber M.A. Salichs
A Perception System based on Laser Information for Mobile Robot Topologic Navigation
IEEE Int. Conference on Industrial Electronics, Control and Instrumentation, 2002, Sevilla, Spain
R. Barber M.A. Salichs
Continuous Reinforcement Learning Algorithm for Skills Learning in an Autonomous Mobile Robot
IEEE Int. Conference on Industrial Electronics, Control and Instrumentation, 2002, Sevilla, Spain
V. Egido R. Barber M.A. Salichs
Corridor exploration in the EDN Navigation System
15th IFAC World Congress on Automatic Control, 2002, Barcelona, Spain
V. Egido R. Barber M.A. Salichs
Learning Visual Landmarks for Mobile Robot Navigation
15th IFAC World Congress on Automatic Control. Barcelona, Barcelona, Spain
M.A. Salichs
Self-Generation by a Mobile Robot of Topological Maps of Corridors
IEEE International Conference on Robotics and Automation, 2002, Washington, USA
V. Egido R. Barber M.A. Salichs
Skills´ Learning in an Autonomous Mobile Robot Using Continous Reinforcement
IFAC Workshop on Advanced Fuzzy-Neural Control, 2002, Valencia, Spain
M.A. Salichs
A new human based architecture for intelligent autonomous robots
IFAC Symposium on Intelligent Autonomous Vehicles, 2002, Sapporo, Japan
R. Barber M.A. Salichs
Visual Tracking Skill Reinforcement Learning for a Mobile Robot
IFAC Symposium on Intelligent Autonomous Vehicles, 2002, Sapporo, Japan
M.A. Salichs
Mobile Robot Navigation Based on Event Maps
3rd International Conference on Field and Service Robotics, 2001, Helsinki, Filand
R. Barber M.A. Salichs
Algorithm of Topological Map Generation for the EDN Navigation System
IFAC Workshop on Mobile Robot Technology, 2001, Jejudo Island, Korea
V. Egido R. Barber M.A. Salichs
A Visual Landmark Recognition System for Topological Navigation of Mobile Robots
IEEE International Conference on Robotics and Automation, 2001, Seoul, Korea
M.A. Salichs
Navigation of Mobile Robots: Learning from Human Beings
Plenary Session. IFAC Workshop on Mobile Robot Tecnology, Jejudo Island, Korea
M.A. Salichs

Entries:
Machine Learning and Robot Perception
chapter: Continuous Reinforcement Learning Algorithm for Skills Learning in an Autonomous Mobile Robot pages: 137 – 165. Springer , ISBN: 978-3-540-26549, 2005
V. Egido R. Barber M.A. Salichs
Machine Learning and Robot Perception
chapter: Continuous Reinforcement Learning Algorithm for Skills Learning in an Autonomous Mobile Robot pages: 137 – 165. Springer , ISBN: 978-3-540-26549, 2005
V. Egido R. Barber M.A. Salichs
Machine Learning and Robot Perception
chapter: Continuous Reinforcement Learning Algorithm for Skills Learning in an Autonomous Mobile Robot pages: 137 – 165. Springer , ISBN: 978-3-540-26549, 2005
V. Egido R. Barber M.A. Salichs
Machine Learning and Robot Perception
chapter: Continuous Reinforcement Learning Algorithm for Skills Learning in an Autonomous Mobile Robot pages: 137 – 165. Springer , ISBN: 978-3-540-26549, 2005
V. Egido R. Barber M.A. Salichs

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