相关论文: Causal versus Marginal Shapley Values for Robotic …

Causal modeling has been recognized as a potential solution to many challenging problems in machine learning (ML). Here, we describe how a recently proposed counterfactual approach developed to deconfound linear structural causal models can…

The Shapley value concept from cooperative game theory has become a popular technique for interpreting ML models, but efficiently estimating these values remains challenging, particularly in the model-agnostic setting. Here, we revisit the…

Feature attribution for kernel methods is often heuristic and not individualised for each prediction. To address this, we turn to the concept of Shapley values~(SV), a coalition game theoretical framework that has previously been applied to…

Studies show that the representations learned by deep neural networks can be transferred to similar prediction tasks in other domains for which we do not have enough labeled data. However, as we transition to higher layers in the model, the…

Machine learning algorithms are designed to capture complex relationships between features. In this context, the high dimensionality of data often results in poor model performance, with the risk of overfitting. Feature selection, the…

Perturbation-based explainability methods such as KernelSHAP provide model-agnostic attributions but are typically impractical for patch-based 3D medical image segmentation due to the large number of coalition evaluations and the high cost…

Autonomous robotic arm manipulators have the potential to make planetary exploration and in-situ resource utilization missions more time efficient and productive, as the manipulator can handle the objects itself and perform goal-specific…

Mathematical models are fundamental building blocks in the design of dynamical control systems. As control systems are becoming increasingly complex and networked, approaches for obtaining such models based on first principles reach their…

Uncertainties in the real world mean that is impossible for system designers to anticipate and explicitly design for all scenarios that a robot might encounter. Thus, robots designed like this are fragile and fail outside of…

Existing feature attribution methods like SHAP often suffer from global dependence, failing to capture true local model behavior. This paper introduces VARSHAP, a novel model-agnostic local feature attribution method which uses the…

Machine Learning explainability techniques have been proposed as a means of `explaining' or interrogating a model in order to understand why a particular decision or prediction has been made. Such an ability is especially important at a…

Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…

Reinforcement learning is an essential paradigm for solving sequential decision problems under uncertainty. Despite many remarkable achievements in recent decades, applying reinforcement learning methods in the real world remains…

Structural causal models describe how the components of a robotic system interact. They provide both structural and functional information about the relationships that are present in the system. The structural information outlines the…

Manipulation tasks require robots to reason about cause and effect when interacting with objects. Yet, many data-driven approaches lack causal semantics and thus only consider correlations. We introduce COBRA-PPM, a novel causal Bayesian…

We study the problem of experiment design to learn causal structures from interventional data. We consider an active learning setting in which the experimenter decides to intervene on one of the variables in the system in each step and uses…

Nowadays, as AI-driven manufacturing becomes increasingly popular, the volume of data streams requiring real-time monitoring continues to grow. However, due to limited resources, it is impractical to place sensors at every location to…

Learning causal representations from observational and interventional data in the absence of known ground-truth graph structures necessitates implicit latent causal representation learning. Implicit learning of causal mechanisms typically…

We propose a causal reasoning framework for creative robot tool use where a suitable tool for a task is correctly identified for use beyond its primary objectives. The proposed framework first discovers the causal relationships between the…

Causal reasoning provides a language to ask important interventional and counterfactual questions beyond purely statistical association. In medical imaging, for example, we may want to study the causal effect of genetic, environmental, or…