228,950 research outputs found
Collaborative Deep Reinforcement Learning for Joint Object Search
We examine the problem of joint top-down active search of multiple objects
under interaction, e.g., person riding a bicycle, cups held by the table, etc..
Such objects under interaction often can provide contextual cues to each other
to facilitate more efficient search. By treating each detector as an agent, we
present the first collaborative multi-agent deep reinforcement learning
algorithm to learn the optimal policy for joint active object localization,
which effectively exploits such beneficial contextual information. We learn
inter-agent communication through cross connections with gates between the
Q-networks, which is facilitated by a novel multi-agent deep Q-learning
algorithm with joint exploitation sampling. We verify our proposed method on
multiple object detection benchmarks. Not only does our model help to improve
the performance of state-of-the-art active localization models, it also reveals
interesting co-detection patterns that are intuitively interpretable
Empirical Evaluation of Contextual Policy Search with a Comparison-based Surrogate Model and Active Covariance Matrix Adaptation
Contextual policy search (CPS) is a class of multi-task reinforcement
learning algorithms that is particularly useful for robotic applications. A
recent state-of-the-art method is Contextual Covariance Matrix Adaptation
Evolution Strategies (C-CMA-ES). It is based on the standard black-box
optimization algorithm CMA-ES. There are two useful extensions of CMA-ES that
we will transfer to C-CMA-ES and evaluate empirically: ACM-ES, which uses a
comparison-based surrogate model, and aCMA-ES, which uses an active update of
the covariance matrix. We will show that improvements with these methods can be
impressive in terms of sample-efficiency, although this is not relevant any
more for the robotic domain.Comment: Supplementary material for poster paper accepted at GECCO 2019;
https://doi.org/10.1145/3319619.332193
Active Incremental Learning of a Contextual Skill Model
Contextual skill models enable robot to generalize parameterized skills for a range of task parameters by using regression on several optimal policies. However, the task difficulty and task sequence of learning a contextual skill model is usually neglected. Thus, the learning process is usually time consuming since some tasks might be easier to learn or the knowledge of these tasks might be easier to share with other tasks. In this thesis, we introduce active incremental learning framework for actively learning a contextual skill model based on dynamical movement primitives which are widely used to learn parameterized policies on trajectory level as a dynamical system for robot. The proposed framework will first select a task which maximizes the expected improvement in skill performance over entire task parameters and then optimize the corresponding policy with a fixed number of iterations in policy search. We model the learning rate of policy search for predicting reward improvement over a single iteration. We evaluated the improvement of the skill performance in two tasks, ball-in-a-cup and basketball, with a simulated KUKA robot arm. In both, the results show that active task selection can improve the skill performance continuously over a baseline
ESPOON: Enforcing Security Policies In Outsourced Environments
Data outsourcing is a growing business model offering services to individuals
and enterprises for processing and storing a huge amount of data. It is not
only economical but also promises higher availability, scalability, and more
effective quality of service than in-house solutions. Despite all its benefits,
data outsourcing raises serious security concerns for preserving data
confidentiality. There are solutions for preserving confidentiality of data
while supporting search on the data stored in outsourced environments. However,
such solutions do not support access policies to regulate access to a
particular subset of the stored data.
For complex user management, large enterprises employ Role-Based Access
Controls (RBAC) models for making access decisions based on the role in which a
user is active in. However, RBAC models cannot be deployed in outsourced
environments as they rely on trusted infrastructure in order to regulate access
to the data. The deployment of RBAC models may reveal private information about
sensitive data they aim to protect. In this paper, we aim at filling this gap
by proposing \textbf{} for enforcing RBAC policies in
outsourced environments. enforces RBAC policies in an
encrypted manner where a curious service provider may learn a very limited
information about RBAC policies. We have implemented
and provided its performance evaluation showing a limited overhead, thus
confirming viability of our approach.Comment: The final version of this paper has been accepted for publication in
Elsevier Computers & Security 2013. arXiv admin note: text overlap with
arXiv:1306.482
Better Optimism By Bayes: Adaptive Planning with Rich Models
The computational costs of inference and planning have confined Bayesian
model-based reinforcement learning to one of two dismal fates: powerful
Bayes-adaptive planning but only for simplistic models, or powerful, Bayesian
non-parametric models but using simple, myopic planning strategies such as
Thompson sampling. We ask whether it is feasible and truly beneficial to
combine rich probabilistic models with a closer approximation to fully Bayesian
planning. First, we use a collection of counterexamples to show formal problems
with the over-optimism inherent in Thompson sampling. Then we leverage
state-of-the-art techniques in efficient Bayes-adaptive planning and
non-parametric Bayesian methods to perform qualitatively better than both
existing conventional algorithms and Thompson sampling on two contextual
bandit-like problems.Comment: 11 pages, 11 figure
Active Object Localization in Visual Situations
We describe a method for performing active localization of objects in
instances of visual situations. A visual situation is an abstract
concept---e.g., "a boxing match", "a birthday party", "walking the dog",
"waiting for a bus"---whose image instantiations are linked more by their
common spatial and semantic structure than by low-level visual similarity. Our
system combines given and learned knowledge of the structure of a particular
situation, and adapts that knowledge to a new situation instance as it actively
searches for objects. More specifically, the system learns a set of probability
distributions describing spatial and other relationships among relevant
objects. The system uses those distributions to iteratively sample object
proposals on a test image, but also continually uses information from those
object proposals to adaptively modify the distributions based on what the
system has detected. We test our approach's ability to efficiently localize
objects, using a situation-specific image dataset created by our group. We
compare the results with several baselines and variations on our method, and
demonstrate the strong benefit of using situation knowledge and active
context-driven localization. Finally, we contrast our method with several other
approaches that use context as well as active search for object localization in
images.Comment: 14 page
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