37,746 research outputs found
Interaction-aware Factorization Machines for Recommender Systems
Factorization Machine (FM) is a widely used supervised learning approach by
effectively modeling of feature interactions. Despite the successful
application of FM and its many deep learning variants, treating every feature
interaction fairly may degrade the performance. For example, the interactions
of a useless feature may introduce noises; the importance of a feature may also
differ when interacting with different features. In this work, we propose a
novel model named \emph{Interaction-aware Factorization Machine} (IFM) by
introducing Interaction-Aware Mechanism (IAM), which comprises the
\emph{feature aspect} and the \emph{field aspect}, to learn flexible
interactions on two levels. The feature aspect learns feature interaction
importance via an attention network while the field aspect learns the feature
interaction effect as a parametric similarity of the feature interaction vector
and the corresponding field interaction prototype. IFM introduces more
structured control and learns feature interaction importance in a stratified
manner, which allows for more leverage in tweaking the interactions on both
feature-wise and field-wise levels. Besides, we give a more generalized
architecture and propose Interaction-aware Neural Network (INN) and DeepIFM to
capture higher-order interactions. To further improve both the performance and
efficiency of IFM, a sampling scheme is developed to select interactions based
on the field aspect importance. The experimental results from two well-known
datasets show the superiority of the proposed models over the state-of-the-art
methods
Online identification and nonlinear control of the electrically stimulated quadriceps muscle
A new approach for estimating nonlinear models of the electrically stimulated quadriceps muscle group under nonisometric conditions is investigated. The model can be used for designing controlled neuro-prostheses. In order to identify the muscle dynamics (stimulation pulsewidth-active knee moment relation) from discrete-time angle measurements only, a hybrid model structure is postulated for the shank-quadriceps dynamics. The model consists of a relatively well known time-invariant passive component and an uncertain time-variant active component. Rigid body dynamics, described by the Equation of Motion (EoM), and passive joint properties form the time-invariant part. The actuator, i.e. the electrically stimulated muscle group, represents the uncertain time-varying section. A recursive algorithm is outlined for identifying online the stimulated quadriceps muscle group. The algorithm requires EoM and passive joint characteristics to be known a priori. The muscle dynamics represent the product of a continuous-time nonlinear activation dynamics and a nonlinear static contraction function described by a Normalised Radial Basis Function (NRBF) network which has knee-joint angle and angular velocity as input arguments. An Extended Kalman Filter (EKF) approach is chosen to estimate muscle dynamics parameters and to obtain full state estimates of the shank-quadriceps dynamics simultaneously. The latter is important for implementing state feedback controllers. A nonlinear state feedback controller using the backstepping method is explicitly designed whereas the model was identified a priori using the developed identification procedure
Goal-Directed Planning for Habituated Agents by Active Inference Using a Variational Recurrent Neural Network
It is crucial to ask how agents can achieve goals by generating action plans
using only partial models of the world acquired through habituated
sensory-motor experiences. Although many existing robotics studies use a
forward model framework, there are generalization issues with high degrees of
freedom. The current study shows that the predictive coding (PC) and active
inference (AIF) frameworks, which employ a generative model, can develop better
generalization by learning a prior distribution in a low dimensional latent
state space representing probabilistic structures extracted from well
habituated sensory-motor trajectories. In our proposed model, learning is
carried out by inferring optimal latent variables as well as synaptic weights
for maximizing the evidence lower bound, while goal-directed planning is
accomplished by inferring latent variables for maximizing the estimated lower
bound. Our proposed model was evaluated with both simple and complex robotic
tasks in simulation, which demonstrated sufficient generalization in learning
with limited training data by setting an intermediate value for a
regularization coefficient. Furthermore, comparative simulation results show
that the proposed model outperforms a conventional forward model in
goal-directed planning, due to the learned prior confining the search of motor
plans within the range of habituated trajectories.Comment: 30 pages, 19 figure
Simulation of hyperelastic materials in real-time using Deep Learning
The finite element method (FEM) is among the most commonly used numerical
methods for solving engineering problems. Due to its computational cost,
various ideas have been introduced to reduce computation times, such as domain
decomposition, parallel computing, adaptive meshing, and model order reduction.
In this paper we present U-Mesh: a data-driven method based on a U-Net
architecture that approximates the non-linear relation between a contact force
and the displacement field computed by a FEM algorithm. We show that deep
learning, one of the latest machine learning methods based on artificial neural
networks, can enhance computational mechanics through its ability to encode
highly non-linear models in a compact form. Our method is applied to two
benchmark examples: a cantilever beam and an L-shape subject to moving punctual
loads. A comparison between our method and proper orthogonal decomposition
(POD) is done through the paper. The results show that U-Mesh can perform very
fast simulations on various geometries, mesh resolutions and number of input
forces with very small errors
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