Cautious NMPC with Gaussian Process Dynamics for Autonomous Miniature Race Cars

This paper presents an adaptive high performance control method for autonomous miniature race cars. Racing dynamics are notoriously hard to model from first principles, which is addressed by means of a cautious nonlinear model predictive control (NMPC) approach that learns to improve its dynamics model from data and safely increases racing performance. The approach makes use of a Gaussian Process (GP) and takes residual model uncertainty into account through a chance constrained formulation. We present a sparse GP approximation with dynamically adjusting inducing inputs, enabling a real-time implementable controller. The formulation is demonstrated in simulations, which show significant improvement with respect to both lap time and constraint satisfaction compared to an NMPC without model learning

Theoretical Interpretations and Applications of Radial Basis Function Networks

Medical applications usually used Radial Basis Function Networks just as Artificial Neural Networks. However, RBFNs are Knowledge-Based Networks that can be interpreted in several way: Artificial Neural Networks, Regularization Networks, Support Vector Machines, Wavelet Networks, Fuzzy Controllers, Kernel Estimators, Instanced-Based Learners. A survey of their interpretations and of their corresponding learning algorithms is provided as well as a brief survey on dynamic learning algorithms. RBFNs' interpretations can suggest applications that are particularly interesting in medical domains

Challenging Neural Dialogue Models with Natural Data: Memory Networks Fail on Incremental Phenomena

Natural, spontaneous dialogue proceeds incrementally on a word-by-word basis; and it contains many sorts of disfluency such as mid-utterance/sentence hesitations, interruptions, and self-corrections. But training data for machine learning approaches to dialogue processing is often either cleaned-up or wholly synthetic in order to avoid such phenomena. The question then arises of how well systems trained on such clean data generalise to real spontaneous dialogue, or indeed whether they are trainable at all on naturally occurring dialogue data. To answer this question, we created a new corpus called bAbI+ by systematically adding natural spontaneous incremental dialogue phenomena such as restarts and self-corrections to the Facebook AI Research's bAbI dialogues dataset. We then explore the performance of a state-of-the-art retrieval model, MemN2N, on this more natural dataset. Results show that the semantic accuracy of the MemN2N model drops drastically; and that although it is in principle able to learn to process the constructions in bAbI+, it needs an impractical amount of training data to do so. Finally, we go on to show that an incremental, semantic parser -- DyLan -- shows 100% semantic accuracy on both bAbI and bAbI+, highlighting the generalisation properties of linguistically informed dialogue models.Comment: 9 pages, 3 figures, 2 tables. Accepted as a full paper for SemDial 201