Neural Network Memory Architectures for Autonomous Robot Navigation

This paper highlights the significance of including memory structures in neural networks when the latter are used to learn perception-action loops for autonomous robot navigation. Traditional navigation approaches rely on global maps of the environment to overcome cul-de-sacs and plan feasible motions. Yet, maintaining an accurate global map may be challenging in real-world settings. A possible way to mitigate this limitation is to use learning techniques that forgo hand-engineered map representations and infer appropriate control responses directly from sensed information. An important but unexplored aspect of such approaches is the effect of memory on their performance. This work is a first thorough study of memory structures for deep-neural-network-based robot navigation, and offers novel tools to train such networks from supervision and quantify their ability to generalize to unseen scenarios. We analyze the separation and generalization abilities of feedforward, long short-term memory, and differentiable neural computer networks. We introduce a new method to evaluate the generalization ability by estimating the VC-dimension of networks with a final linear readout layer. We validate that the VC estimates are good predictors of actual test performance. The reported method can be applied to deep learning problems beyond robotics

Deep Learning Techniques for Music Generation -- A Survey

This paper is a survey and an analysis of different ways of using deep learning (deep artificial neural networks) to generate musical content. We propose a methodology based on five dimensions for our analysis: Objective - What musical content is to be generated? Examples are: melody, polyphony, accompaniment or counterpoint. - For what destination and for what use? To be performed by a human(s) (in the case of a musical score), or by a machine (in the case of an audio file). Representation - What are the concepts to be manipulated? Examples are: waveform, spectrogram, note, chord, meter and beat. - What format is to be used? Examples are: MIDI, piano roll or text. - How will the representation be encoded? Examples are: scalar, one-hot or many-hot. Architecture - What type(s) of deep neural network is (are) to be used? Examples are: feedforward network, recurrent network, autoencoder or generative adversarial networks. Challenge - What are the limitations and open challenges? Examples are: variability, interactivity and creativity. Strategy - How do we model and control the process of generation? Examples are: single-step feedforward, iterative feedforward, sampling or input manipulation. For each dimension, we conduct a comparative analysis of various models and techniques and we propose some tentative multidimensional typology. This typology is bottom-up, based on the analysis of many existing deep-learning based systems for music generation selected from the relevant literature. These systems are described and are used to exemplify the various choices of objective, representation, architecture, challenge and strategy. The last section includes some discussion and some prospects.Comment: 209 pages. This paper is a simplified version of the book: J.-P. Briot, G. Hadjeres and F.-D. Pachet, Deep Learning Techniques for Music Generation, Computational Synthesis and Creative Systems, Springer, 201

Control of a launcher in atmospheric ascent with guardian maps

This paper describes the synthesis of a SISO scheduled controller for a launcher vehicle. The problem consists in designing a control law which will be valid on the atmospheric ascent trajectory from time 25 s to time 60 s, while ensuring robustness and performance requirements. Moreover a flexible model with two bending modes is considered, making the problem more challenging. An algorithm based upon guardian maps has been retained in order to find an a priori fixed architecture controller. The algorithm yields a sequence of controllers that ensures that pole confinement constraints are fulfilled for any time between 25 s and 60 s. The user can then interpolate those controllers to find a scheduled controller with respect to time

Iris: an Extensible Application for Building and Analyzing Spectral Energy Distributions

Iris is an extensible application that provides astronomers with a user-friendly interface capable of ingesting broad-band data from many different sources in order to build, explore, and model spectral energy distributions (SEDs). Iris takes advantage of the standards defined by the International Virtual Observatory Alliance, but hides the technicalities of such standards by implementing different layers of abstraction on top of them. Such intermediate layers provide hooks that users and developers can exploit in order to extend the capabilities provided by Iris. For instance, custom Python models can be combined in arbitrary ways with the Iris built-in models or with other custom functions. As such, Iris offers a platform for the development and integration of SED data, services, and applications, either from the user's system or from the web. In this paper we describe the built-in features provided by Iris for building and analyzing SEDs. We also explore in some detail the Iris framework and software development kit, showing how astronomers and software developers can plug their code into an integrated SED analysis environment.Comment: 18 pages, 8 figures, accepted for publication in Astronomy & Computin

A visual workspace for constructing hybrid MDS algorithms and coordinating multiple views

Data can be distinguished according to volume, variable types and distribution, and each of these characteristics imposes constraints upon the choice of applicable algorithms for their visualisation. This has led to an abundance of often disparate algorithmic techniques. Previous work has shown that a hybrid algorithmic approach can be successful in addressing the impact of data volume on the feasibility of multidimensional scaling (MDS). This paper presents a system and framework in which a user can easily explore algorithms as well as their hybrid conjunctions and the data flowing through them. Visual programming and a novel algorithmic architecture let the user semi-automatically define data flows and the co-ordination of multiple views of algorithmic and visualisation components. We propose that our approach has two main benefits: significant improvements in run times of MDS algorithms can be achieved, and intermediate views of the data and the visualisation program structure can provide greater insight and control over the visualisation process

Human motion modeling and simulation by anatomical approach

To instantly generate desired infinite realistic human motion is still a great challenge in virtual human simulation. In this paper, the novel emotion effected motion classification and anatomical motion classification are presented, as well as motion capture and parameterization methods. The framework for a novel anatomical approach to model human motion in a HTR (Hierarchical Translations and Rotations) file format is also described. This novel anatomical approach in human motion modelling has the potential to generate desired infinite human motion from a compact motion database. An architecture for the real-time generation of new motions is also propose