Polish talk a bit

additional.bib

@@ -31,3 +31,14 @@
   journaltitle = {Siemens AG, CT IC 4, Technical Report},
   title = {The Wet Game of Chicken}
 }
+
+@article{kaiser_interpretable_2019,
+  abstract = {In this paper, we present a Bayesian view on model-based reinforcement learning. We use expert knowledge to impose structure on the transition model and present an efficient learning scheme based on variational inference. This scheme is applied to a heteroskedastic and bimodal benchmark problem on which we compare our results to NFQ and show how our approach yields human-interpretable insight about the underlying dynamics while also increasing data-efficiency.},
+  author = {Kaiser, Markus and Otte, Clemens and Runkler, Thomas and Ek, Carl Henrik},
+  date = {2019},
+  journaltitle = {Computational Intelligence and Machine Learning},
+  langid = {english},
+  pages = {6},
+  title = {Interpretable {{Dynamics Models}} for {{Data}}-{{Efficient Reinforcement Learning}}},
+  volume = {ESANN 2019 proceedings}
+}

ecml-talk/data_association.tex

@@ -105,7 +105,7 @@
 }
 
 
-\includeonlyframes{policy}
+% \includeonlyframes{summary}
 
 
 \begin{document}
@@ -136,7 +136,7 @@
 \end{frame}
 
 
-\begin{frame}[label=dynamics_posterior]{Multimodal System Dynamics}
+\begin{frame}[label=dynamics_posterior]{Multimodal System Dynamics\footcite{kaiser_interpretable_2019}}
     \centering
     \includestandalonewithpath{figures/dynamics_posterior_cut}
 \end{frame}
@@ -146,17 +146,21 @@
     \centering
     \begin{columns}[T]
         \begin{column}{.45\textwidth}
+            \centering
             \includestandalone{figures/policy_quiver}
             \begin{align}
                 \Fun*{R}{x, y} = x
             \end{align}
+            22\% drop rate
         \end{column}
         \begin{column}{.45\textwidth}
+            \centering
             \uncover<2>{
                 \includestandalone{figures/conservative_policy_quiver}
                 \begin{align}
                     \Fun*{R^\prime}{x, y} = \Fun*{R}{x, y} - 5 \cdot \Prob{\text{drop} \given x, y}
                 \end{align}
+                19\% drop rate
             }
         \end{column}
     \end{columns}
@@ -165,30 +169,30 @@
 
 \begin{frame}[label=summary]{Data Association with Gaussian Processes}
     \medskip
-    \begin{block}{Interaction with domain experts}
+    \begin{block}{Model for multimodal data}
         \vspace{1ex}
         \begin{columns}[c]
             \begin{column}[c]{.5\textwidth}
                 \begin{itemize}
-                    \item Incomplete system knowledge
-                    \item Hierarchical priors
-                    \item Interpretable sub-models
+                    \item Separate models per mode
+                    \item Predictive Associations
+                    \item Scalable inference
                 \end{itemize}
             \end{column}
             \begin{column}[c]{.475\textwidth}
                 \centering
-                \includestandalonewithpath{figures/graphical_model_mdgp_tiny}
+                \includestandalonewithpath{figures/graphical_model_dagp_tiny}
             \end{column}
         \end{columns}
     \end{block}
     %
-    \begin{block}{Trustworthy decision making}
+    \begin{block}{Informed decision making}
         \begin{columns}[c]
             \begin{column}[c]{.5\textwidth}
                 \begin{itemize}
-                    \item Uncertainty due to incomplete data
+                    \item Hierarchical priors
+                    \item Interpretable sub-models
                     \item Stochastic systems
-                    \item Robust and efficient inference
                 \end{itemize}
             \end{column}
             \begin{column}[c]{.475\textwidth}

ecml-talk/figures/graphical_model_mdgp_tiny.tex → ecml-talk/figures/graphical_model_dagp_tiny.tex

@@ -12,24 +12,16 @@
     \def\datapath{\figurepath/data}
 
     \tikzstyle{tiny random variable} = [random variable, inner sep=0pt, minimum size=13pt, font=\tiny]
-    \node[tiny random variable, observed, xshift=-2ex] (Xsn) at (1, 0.25) {$\rv{s}_t$};
-    \node[tiny random variable, observed, xshift=2ex] (Xan) at (1, 0.25) {$\rv{a}_t$};
+    \node[tiny random variable, observed] (Xn) at (1, 0) {$\rv{x_n}$};
+    \node[tiny random variable, observed] (yn) at (1, -3) {$\rv{y_n}$};
 
-    \begin{scope}[on background layer]
-        \node[plate, opacity=0.3, fit=(Xsn)(Xan)] (Xn) {};
-    \end{scope}
-    \node[tiny random variable, observed] (yn) at (.8, -3) {$\rv{s}_{t+1}$};
-
-    \node[tiny random variable, latent] (fnm) at (0, -1) {$\rv{f}_t^{\pix{k}}$};
-    \node[tiny random variable, latent] (sigmanm) at (1, -1) {$\rv{\sigma}_t^{\pix{k}}$};
-    \node[tiny random variable, latent] (ynm) at (0, -2) {$\rv{s}_{t+1}^{\pix{k}}$};
+    \node[tiny random variable, latent] (fnm) at (0, -1) {$\rv{f_n^{\pix{k}}}$};
+    \node[tiny random variable, latent] (ynm) at (0, -2) {$\rv{y_n^{\pix{k}}}$};
 
-    \node[tiny random variable, latent] (alphanm) at (2, -1) {$\rv{\lambda}_t^{\pix{k}}$};
-    \node[tiny random variable, latent] (an) at (2, -3) {$\rv{l}_t$};
+    \node[tiny random variable, latent] (alphanm) at (2, -1) {$\rv{\alpha_n^{\pix{k}}}$};
+    \node[tiny random variable, latent] (an) at (2, -3) {$\rv{a_n}$};
 
     \draw[edge, directed] (Xn) -| (fnm);
-    \draw[edge, directed] (Xn) -- (sigmanm);
-    \draw[edge, directed] (sigmanm) -- (ynm);
     \draw[edge, directed] (Xn) -| (alphanm);
     \draw[edge, directed] (fnm) -- (ynm);
     \draw[edge, directed] (alphanm) -- (an);
@@ -40,8 +32,8 @@
 
     \begin{scope}[on background layer]
         \node[
-            yshift=3pt,
-            plate, inner sep=5pt,
+            % yshift=3pt,
+            plate, inner sep=3pt,
             opacity=0.3,
             fit=(fnm)(alphanm)(ynm),
             label={[font=\small, opacity=0.3, anchor=south east]south east:K}

ecml-talk/figures/policy_quiver_tiny.tex

@@ -27,7 +27,7 @@
             point meta={-abs(\thisrow{aR})},
             ] table[
             ignore chars={\#}, col sep=space, x=Y, y=X,
-            ] {\datapath/policy_quiver.dat};
+            ] {\datapath/conservative_policy_quiver.dat};
 
         \addplot[
             quiver={%
@@ -41,7 +41,7 @@
             },
             ] table[
             ignore chars={\#}, col sep=space, x=Y, y=X,
-            ] {\datapath/policy_quiver.dat};
+            ] {\datapath/conservative_policy_quiver.dat};
     \end{axis}
 
     % NOTE(mrksr): Hacky fix for tikzpicture in block

ecml-talk/figures/wetchicken.tex

@@ -53,7 +53,7 @@
         \node[text width=7cm] at (2.25, 0.5) {
             \begin{description}
                 \item[Dynamics] Agent in a flowing river
-                \item[Goal] Get close to waterfall
+                \item[Goal] Get close to the waterfall
                 \item[State] $(x, y)$-position in $\R^2$
                 \item[Action] $(x, y)$-movement in $\R^2$
             \end{description}