21,444 research outputs found
Progress in lattice algorithms
The development of Monte Carlo algorithms for generating gauge field
configurations with dynamical fermions and methods for extracting the most
information from ensembles are summarised.Comment: Lattice2001(plenary) 9 pages, 4 figures. Uses espcrc2.st
t-Exponential Memory Networks for Question-Answering Machines
Recent advances in deep learning have brought to the fore models that can
make multiple computational steps in the service of completing a task; these
are capable of describ- ing long-term dependencies in sequential data. Novel
recurrent attention models over possibly large external memory modules
constitute the core mechanisms that enable these capabilities. Our work
addresses learning subtler and more complex underlying temporal dynamics in
language modeling tasks that deal with sparse sequential data. To this end, we
improve upon these recent advances, by adopting concepts from the field of
Bayesian statistics, namely variational inference. Our proposed approach
consists in treating the network parameters as latent variables with a prior
distribution imposed over them. Our statistical assumptions go beyond the
standard practice of postulating Gaussian priors. Indeed, to allow for handling
outliers, which are prevalent in long observed sequences of multivariate data,
multivariate t-exponential distributions are imposed. On this basis, we proceed
to infer corresponding posteriors; these can be used for inference and
prediction at test time, in a way that accounts for the uncertainty in the
available sparse training data. Specifically, to allow for our approach to best
exploit the merits of the t-exponential family, our method considers a new
t-divergence measure, which generalizes the concept of the Kullback-Leibler
divergence. We perform an extensive experimental evaluation of our approach,
using challenging language modeling benchmarks, and illustrate its superiority
over existing state-of-the-art techniques
Active Inference for Integrated State-Estimation, Control, and Learning
This work presents an approach for control, state-estimation and learning
model (hyper)parameters for robotic manipulators. It is based on the active
inference framework, prominent in computational neuroscience as a theory of the
brain, where behaviour arises from minimizing variational free-energy. The
robotic manipulator shows adaptive and robust behaviour compared to
state-of-the-art methods. Additionally, we show the exact relationship to
classic methods such as PID control. Finally, we show that by learning a
temporal parameter and model variances, our approach can deal with unmodelled
dynamics, damps oscillations, and is robust against disturbances and poor
initial parameters. The approach is validated on the `Franka Emika Panda' 7 DoF
manipulator.Comment: 7 pages, 6 figures, accepted for presentation at the International
Conference on Robotics and Automation (ICRA) 202
DPC-Net: Deep Pose Correction for Visual Localization
We present a novel method to fuse the power of deep networks with the
computational efficiency of geometric and probabilistic localization
algorithms. In contrast to other methods that completely replace a classical
visual estimator with a deep network, we propose an approach that uses a
convolutional neural network to learn difficult-to-model corrections to the
estimator from ground-truth training data. To this end, we derive a novel loss
function for learning SE(3) corrections based on a matrix Lie groups approach,
with a natural formulation for balancing translation and rotation errors. We
use this loss to train a Deep Pose Correction network (DPC-Net) that predicts
corrections for a particular estimator, sensor and environment. Using the KITTI
odometry dataset, we demonstrate significant improvements to the accuracy of a
computationally-efficient sparse stereo visual odometry pipeline, that render
it as accurate as a modern computationally-intensive dense estimator. Further,
we show how DPC-Net can be used to mitigate the effect of poorly calibrated
lens distortion parameters.Comment: In IEEE Robotics and Automation Letters (RA-L) and presented at the
IEEE International Conference on Robotics and Automation (ICRA'18), Brisbane,
Australia, May 21-25, 201
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