Thesis (Ph. D.)--Oregon State University, 2010. / Printout. Includes bibliographical references (leaves 122-126). Also available on the World Wide Web.

Thesis (M.B.A.)--University of Hong Kong, 1989.

Many important real-world robotic tasks have high diameter, that is, their solution requires a large number of primitive actions by the robot. For example, they may require navigating to distant locations using primitive motor control commands. In addition, modern robots are endowed with rich, high-dimensional sensory systems, providing measurements of a continuous environment. Reinforcement learning (RL) has shown promise as a method for automatic learning of robot behavior, but current methods work best on lowdiameter, low-dimensional tasks. Because of this problem, the success of RL on real-world tasks still depends on human analysis of the robot, environment, and task to provide a useful set of perceptual features and an appropriate decomposition of the task into subtasks. This thesis presents Self-Organizing Distinctive-state Abstraction (SODA) as a solution to this problem. Using SODA a robot with little prior knowledge of its sensorimotor system, environment, and task can automatically reduce the effective diameter of its tasks. First it uses a self-organizing feature map to learn higher level perceptual features while exploring using primitive, local actions. Then, using the learned features as input, it learns a set of high-level actions that carry the robot between perceptually distinctive states in the environment. Experiments in two robot navigation environments demonstrate that SODA learns useful features and high-level actions, that using these new actions dramatically speeds up learning for high-diameter navigation tasks, and that the method scales to large (buildingsized) robot environments. These experiments demonstrate SODAs effectiveness as a generic learning agent for mobile robot navigation, pointing the way toward developmental robots that learn to understand themselves and their environments through experience in the world, reducing the need for human engineering for each new robotic application. / text

Not available / text

Not available

published_or_final_version / Mechanical Engineering / Master / Master of Philosophy

No description available.

No description available.

Email has become a part of most people's lives, and the ever increasing amount of messages people receive can lead to email overload. We attempt to mitigate this problem using email thread summarization. Summaries can be used for things other than just replacing an incoming email message. They can be used in the business world as a form of corporate memory, or to allow a new team member an easy way to catch up on an ongoing conversation. Email threads are of particular interest to summarization because they contain much structural redundancy due to their conversational nature. Our email thread summarization approach uses machine learning to pick which sentences from the email thread to use in the summary. A machine learning summarizer must be trained using previously labeled data, i.e. manually created summaries. After being trained our summarization algorithm can generate summaries that on average contain over 70% of the same sentences as human annotators. We show that labeling some key features such as speech acts, meta sentences, and subjectivity can improve performance to over 80% weighted recall. To create such email summarization software, an email dataset is needed for training and evaluation. Since email communication is a private matter, it is hard to get access to real emails for research. Furthermore these emails must be annotated with human generated summaries as well. As these annotated datasets are rare, we have created one and made it publicly available. The BC3 corpus contains annotations for 40 email threads which include extractive summaries, abstractive summaries with links, and labeled speech acts, meta sentences, and subjective sentences. While previous research has shown that machine learning algorithms are a promising approach to email summarization, there has not been a study on the impact of the choice of algorithm. We explore new techniques in email thread summarization using several different kinds of regression, and the results show that the choice of classifier is very critical. We also present a novel feature set for email summarization and do analysis on two email corpora: the BC3 corpus and the Enron corpus.

No description available.