25,632 research outputs found
Network Uncertainty Informed Semantic Feature Selection for Visual SLAM
In order to facilitate long-term localization using a visual simultaneous
localization and mapping (SLAM) algorithm, careful feature selection can help
ensure that reference points persist over long durations and the runtime and
storage complexity of the algorithm remain consistent. We present SIVO
(Semantically Informed Visual Odometry and Mapping), a novel
information-theoretic feature selection method for visual SLAM which
incorporates semantic segmentation and neural network uncertainty into the
feature selection pipeline. Our algorithm selects points which provide the
highest reduction in Shannon entropy between the entropy of the current state
and the joint entropy of the state, given the addition of the new feature with
the classification entropy of the feature from a Bayesian neural network. Each
selected feature significantly reduces the uncertainty of the vehicle state and
has been detected to be a static object (building, traffic sign, etc.)
repeatedly with a high confidence. This selection strategy generates a sparse
map which can facilitate long-term localization. The KITTI odometry dataset is
used to evaluate our method, and we also compare our results against ORB_SLAM2.
Overall, SIVO performs comparably to the baseline method while reducing the map
size by almost 70%.Comment: Published in: 2019 16th Conference on Computer and Robot Vision (CRV
Deep Dictionary Learning: A PARametric NETwork Approach
Deep dictionary learning seeks multiple dictionaries at different image
scales to capture complementary coherent characteristics. We propose a method
for learning a hierarchy of synthesis dictionaries with an image classification
goal. The dictionaries and classification parameters are trained by a
classification objective, and the sparse features are extracted by reducing a
reconstruction loss in each layer. The reconstruction objectives in some sense
regularize the classification problem and inject source signal information in
the extracted features. The performance of the proposed hierarchical method
increases by adding more layers, which consequently makes this model easier to
tune and adapt. The proposed algorithm furthermore, shows remarkably lower
fooling rate in presence of adversarial perturbation. The validation of the
proposed approach is based on its classification performance using four
benchmark datasets and is compared to a CNN of similar size
Mitigation of Catastrophic Interference in Neural Networks and Ensembles using a Fixed Expansion Layer
Catastrophic forgetting (also known in the literature as catastrophic interference) is the phenomenon by which learning systems exhibit a severe exponential loss of learned information when exposed to relatively small amounts of new training data. This loss of information is not caused by constraints due to the lack of resources available to the learning system, but rather is caused by representational overlap within the learning system and by side-effects of the training methods used. Catastrophic forgetting in auto-associative pattern recognition is a well-studied attribute of most parameterized supervised learning systems. A variation of this phenomenon, in the context of feedforward neural networks, arises when non-stationary inputs lead to loss of previously learned mappings. The majority of the schemes proposed in the literature for mitigating catastrophic forgetting are not data-driven, but rather rely on storage of prior representations of the learning system. We introduce the Fixed Expansion Layer (FEL) feedforward neural network that embeds an expansion layer which sparsely encodes the information contained within the hidden layer, in order to help mitigate forgetting of prior learned representations. The fixed expansion layer approach is generally applicable to feedforward neural networks, as demonstrated by the application of the FEL technique to a recurrent neural network algorithm built on top of a standard feedforward neural network. Additionally, we investigate a novel framework for training ensembles of FEL networks, based on exploiting an information-theoretic measure of diversity between FEL learners, to further control undesired plasticity. The proposed methodology is demonstrated on a several tasks, clearly emphasizing its advantages over existing techniques. The architecture proposed can be applied to address a range of computational intelligence tasks, including classification problems, regression problems and system control
Deep Divergence-Based Approach to Clustering
A promising direction in deep learning research consists in learning
representations and simultaneously discovering cluster structure in unlabeled
data by optimizing a discriminative loss function. As opposed to supervised
deep learning, this line of research is in its infancy, and how to design and
optimize suitable loss functions to train deep neural networks for clustering
is still an open question. Our contribution to this emerging field is a new
deep clustering network that leverages the discriminative power of
information-theoretic divergence measures, which have been shown to be
effective in traditional clustering. We propose a novel loss function that
incorporates geometric regularization constraints, thus avoiding degenerate
structures of the resulting clustering partition. Experiments on synthetic
benchmarks and real datasets show that the proposed network achieves
competitive performance with respect to other state-of-the-art methods, scales
well to large datasets, and does not require pre-training steps
Deep Reinforcement Learning from Self-Play in Imperfect-Information Games
Many real-world applications can be described as large-scale games of
imperfect information. To deal with these challenging domains, prior work has
focused on computing Nash equilibria in a handcrafted abstraction of the
domain. In this paper we introduce the first scalable end-to-end approach to
learning approximate Nash equilibria without prior domain knowledge. Our method
combines fictitious self-play with deep reinforcement learning. When applied to
Leduc poker, Neural Fictitious Self-Play (NFSP) approached a Nash equilibrium,
whereas common reinforcement learning methods diverged. In Limit Texas Holdem,
a poker game of real-world scale, NFSP learnt a strategy that approached the
performance of state-of-the-art, superhuman algorithms based on significant
domain expertise.Comment: updated version, incorporating conference feedbac
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