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Add wetchicken slides

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Markus Kaiser 2 years ago
parent
commit
ac2e9111a6
  1. 1
      ecml-talk/.latexmkrc
  2. 41
      ecml-talk/data_association.tex
  3. 42
      ecml-talk/figures/conservative_policy_quiver.tex
  4. 401
      ecml-talk/figures/data/conservative_policy_quiver.dat
  5. 501
      ecml-talk/figures/data/cut_data_0.0.dat
  6. 501
      ecml-talk/figures/data/cut_data_1.0.dat
  7. 501
      ecml-talk/figures/data/cut_data_2.5.dat
  8. 501
      ecml-talk/figures/data/cut_data_4.0.dat
  9. 501
      ecml-talk/figures/data/cut_data_5.0.dat
  10. 501
      ecml-talk/figures/data/cut_model_0.0_0.dat
  11. 501
      ecml-talk/figures/data/cut_model_0.0_1.dat
  12. 501
      ecml-talk/figures/data/cut_model_1.0_0.dat
  13. 501
      ecml-talk/figures/data/cut_model_1.0_1.dat
  14. 501
      ecml-talk/figures/data/cut_model_2.5_0.dat
  15. 501
      ecml-talk/figures/data/cut_model_2.5_1.dat
  16. 501
      ecml-talk/figures/data/cut_model_4.0_0.dat
  17. 501
      ecml-talk/figures/data/cut_model_4.0_1.dat
  18. 501
      ecml-talk/figures/data/cut_model_5.0_0.dat
  19. 501
      ecml-talk/figures/data/cut_model_5.0_1.dat
  20. 115
      ecml-talk/figures/dynamics_posterior_cut.tex
  21. 8
      ecml-talk/figures/wetchicken.tex

1
ecml-talk/.latexmkrc

@ -1,4 +1,5 @@
@default_files = ("data_association.tex");
push @generated_exts, 'spl', 'run.xml';
$pdf_mode = 1;
$pdflatex="lualatex --shell-escape --file-line-error --interaction=nonstopmode %O %S";

41
ecml-talk/data_association.tex

@ -77,6 +77,7 @@
% Bibliography
\usepackage[style=authoryear, backend=biber, url=false]{biblatex}
\addbibresource{../zotero_export.bib}
\addbibresource{../additional.bib}
\title{Data Association with Gaussian Processes}
@ -104,7 +105,7 @@
}
% \includeonlyframes{multimodal_data}
\includeonlyframes{policy}
\begin{document}
@ -129,26 +130,34 @@
\end{frame}
\begin{frame}[label=wetchicken]{Wet-Chicken Benchmark\footcite{tresp_wet_1994,hans_efficient_2009}}
\begin{frame}<3-5,7>[label=wetchicken]{Wet-Chicken Benchmark\footcite{tresp_wet_1994,hans_efficient_2009}}
\centering
\includestandalonewithpath{figures/wetchicken}
\end{frame}
\begin{frame}[label=dynamics_posterior]{Dynamics Posterior}
\begin{frame}[label=dynamics_posterior]{Multimodal System Dynamics}
\centering
\hspace*{-1.5em}\includestandalonewithpath{figures/dynamics_posterior}
\includestandalonewithpath{figures/dynamics_posterior_cut}
\end{frame}
\begin{frame}[label=policy]{Trained Policies}
\begin{frame}[label=policy]{Conservative Policy Training}
\centering
\begin{columns}[T]
\begin{column}{.45\textwidth}
\includestandalone{figures/policy_quiver}
\begin{align}
\Fun*{R}{x, y} = x
\end{align}
\end{column}
\begin{column}{.45\textwidth}
\includestandalone{figures/policy_quiver}
\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}
}
\end{column}
\end{columns}
\end{frame}
@ -206,26 +215,20 @@
\begin{frame}[label=variational_bound]{Variational Bound}
\begin{align}
\Ell_{\text{DAGP}}
&= \Moment*{\E_{\Variat*{\mat{F}, \mat{\lambda}, \mat{U}}}}{\log\frac{\Prob*{\mat{S}^\prime, \mat{L}, \mat{F}, \mat{\lambda}, \mat{U} \given \mat{S}}}{\Variat*{\mat{F}, \mat{\lambda}, \mat{U}}}} \\
&= \sum_{n=1}^N \Moment*{\E_{\Variat*{\mat{f_n}}}}{\log \Prob*{\mat{s^\prime_n} \given \mat{f_n}, \mat{l_n}}}
+ \sum_{n=1}^N \Moment*{\E_{\Variat*{\mat{\lambda_n}}}}{\log \Prob*{\mat{l_n} \given \mat{\lambda_n}}} \\
&= \Moment*{\E_{\Variat*{\mat{F}, \mat{\alpha}, \mat{U}}}}{\log\frac{\Prob*{\mat{Y}, \mat{A}, \mat{F}, \mat{\alpha}, \mat{U} \given \mat{X}}}{\Variat*{\mat{F}, \mat{\alpha}, \mat{U}}}} \\
&= \sum_{n=1}^N \Moment*{\E_{\Variat*{\mat{f_n}}}}{\log \Prob*{\mat{y_n} \given \mat{f_n}, \mat{a_n}}}
+ \sum_{n=1}^N \Moment*{\E_{\Variat*{\mat{\alpha_n}}}}{\log \Prob*{\mat{a_n} \given \mat{\alpha_n}}} \\
&\quad - \sum_{k=1}^K \KL*{\Variat*{\mat{u^{\pix{k}}}}}{\Prob*{\mat{u^{\pix{k}}} \given \mat{Z^{\pix{k}}}}}
- \sum_{k=1}^K \KL*{\Variat*{\mat{u_\lambda^{\pix{k}}}}}{\Prob*{\mat{u_\lambda^{\pix{k}}} \given \mat{Z_\lambda^{\pix{k}}}}}
- \sum_{k=1}^K \KL*{\Variat*{\mat{u_\alpha^{\pix{k}}}}}{\Prob*{\mat{u_\alpha^{\pix{k}}} \given \mat{Z_\alpha^{\pix{k}}}}}
\end{align}
\end{frame}
\begin{frame}[label=predictive_posterior]{Predictive Posterior}
\begin{align}
\Variat*{\mat{s}_{t+1} \given \mat{s}_t}
&=
\int \sum_{k=1}^K
\Variat*{\mat{l}_t^{\pix{k}} \given \mat{s}_t}
\Variat*{\mat{s}_{t+1}^{\pix{k}} \given \mat{s}_t}
\diff \mat{l}_t^{\pix{1}}
\dots
\diff \mat{l}_t^{\pix{K}} \\
&\approx \sum_{k=1}^K \hat{l}_t^{\pix{k}} \mat{\hat{s}}_{t+1}^{\pix{k}}
\Variat*{\mat{f_\ast} \given \mat{x_\ast}}
&= \int \sum_{k=1}^K \Variat*{a_\ast^{\pix{k}} \given \mat{x_\ast}} \Variat*{\mat{f_\ast^{\pix{k}}} \given \mat{x_\ast}} \diff \mat{a_\ast^{\pix{k}}} \\
&\approx \sum_{k=1}^K \hat{a}_\ast^{\pix{k}} \mat{\hat{f}_\ast^{\pix{k}}}
\end{align}
\end{frame}

42
ecml-talk/figures/conservative_policy_quiver.tex

@ -0,0 +1,42 @@
\documentclass[beamer,tikz,crop]{standalone}
\input{preamble/tikz_standalone.tex}
\input{preamble/tikz_common.tex}
\input{preamble/tikz_style.tex}
\input{preamble/tikz_colors.tex}
\input{../abbreviations.tex}
\begin{document}
\begin{tikzpicture}
\def\datapath{\figurepath/data}
\begin{axis}[
result plot,
width=.45\plottextwidth,
height=.45\plottextwidth,
colormap/RdYlBu,
]
\addplot[
surf,
mesh/rows=20,
mesh/cols=20,
opacity=0.75,
point meta={-abs(\thisrow{aR})},
] table[
ignore chars={\#}, col sep=space, x=Y, y=X,
] {\datapath/conservative_policy_quiver.dat};
\addplot[
quiver={%
u={\thisrow{aX}},
v={\thisrow{aY}},
scale arrows=0.2,
every arrow/.append style={quiver arrow, sStoneDark},
},
] table[
ignore chars={\#}, col sep=space, x=Y, y=X,
] {\datapath/conservative_policy_quiver.dat};
\addwaterfall
\end{axis}
\end{tikzpicture}
\end{document}

401
ecml-talk/figures/data/conservative_policy_quiver.dat

@ -0,0 +1,401 @@
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