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John D. Kelleher

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

3 papers
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3

TMLR Journal 2025 Journal Article

Know Yourself and Know Your Neighbour: A Syntactically Informed Self-Supervised Compositional Sentence Representation Learning Framework using a Recursive Hypernetwork

  • Vasudevan Nedumpozhimana
  • John D. Kelleher

Sentence representation learning is still an open challenge in Natural Language Processing. In this work, we propose a new self-supervised framework for learning sentence representations, using a special type of neural network called a recursive hypernetwork. Our proposed model composes the representation of a sentence from representations of words by applying a recursive composition through the parse tree. We maintain a separate syntactic and semantic representation, and the semantic composition is guided by the information from the syntactic representation. To train this model, we introduce a novel set of six self-supervised tasks. By analysing the performance on 7 probing tasks, we validate that the generated sentence representation encodes richer linguistic information than both averaging baselines and state-of-the-art alternatives. Furthermore, we assess the impact of the six proposed self-supervised training tasks through ablation studies. We also demonstrate that the representations generated by our model are stable for sentences of varying length and that the semantic composition operators adapt to different syntactic categories.

ICRA Conference 2024 Conference Paper

CoBT: Collaborative Programming of Behaviour Trees from One Demonstration for Robot Manipulation

  • Aayush Jain
  • Philip Long
  • Valeria Villani
  • John D. Kelleher
  • Maria Chiara Leva

Mass customization and shorter manufacturing cycles are becoming more important among small and medium-sized companies. However, classical industrial robots struggle to cope with product variation and dynamic environments. In this paper, we present CoBT, a collaborative programming by demonstration framework for generating reactive and modular behavior trees. CoBT relies on a single demonstration and a combination of data-driven machine learning methods with logic-based declarative learning to learn a task, thus eliminating the need for programming expertise or long development times. The proposed framework is experimentally validated on 7 manipulation tasks and we show that CoBT achieves ≈ 93% success rate overall with an average of 7. 5s programming time. We conduct a pilot study with non-expert users to provide feedback regarding the usability of CoBT. More videos and generated behavior trees are available at: https://github.com/jainaayush2006/CoBT.git.

YNICL Journal 2021 Journal Article

Hybrid modelling for stroke care: Review and suggestions of new approaches for risk assessment and simulation of scenarios

  • Tilda Herrgårdh
  • Vince I. Madai
  • John D. Kelleher
  • Rasmus Magnusson
  • Mika Gustafsson
  • Lili Milani
  • Peter Gennemark
  • Gunnar Cedersund

Stroke is an example of a complex and multi-factorial disease involving multiple organs, timescales, and disease mechanisms. To deal with this complexity, and to realize Precision Medicine of stroke, mathematical models are needed. Such approaches include: 1) machine learning, 2) bioinformatic network models, and 3) mechanistic models. Since these three approaches have complementary strengths and weaknesses, a hybrid modelling approach combining them would be the most beneficial. However, no concrete approach ready to be implemented for a specific disease has been presented to date. In this paper, we both review the strengths and weaknesses of the three approaches, and propose a roadmap for hybrid modelling in the case of stroke care. We focus on two main tasks needed for the clinical setting: a) For stroke risk calculation, we propose a new two-step approach, where non-linear mixed effects models and bioinformatic network models yield biomarkers which are used as input to a machine learning model and b) For simulation of care scenarios, we propose a new four-step approach, which revolves around iterations between simulations of the mechanistic models and imputations of non-modelled or non-measured variables. We illustrate and discuss the different approaches in the context of Precision Medicine for stroke.