78,309 research outputs found
On the Compression of Recurrent Neural Networks with an Application to LVCSR acoustic modeling for Embedded Speech Recognition
We study the problem of compressing recurrent neural networks (RNNs). In
particular, we focus on the compression of RNN acoustic models, which are
motivated by the goal of building compact and accurate speech recognition
systems which can be run efficiently on mobile devices. In this work, we
present a technique for general recurrent model compression that jointly
compresses both recurrent and non-recurrent inter-layer weight matrices. We
find that the proposed technique allows us to reduce the size of our Long
Short-Term Memory (LSTM) acoustic model to a third of its original size with
negligible loss in accuracy.Comment: Accepted in ICASSP 201
Metric Learning for Generalizing Spatial Relations to New Objects
Human-centered environments are rich with a wide variety of spatial relations
between everyday objects. For autonomous robots to operate effectively in such
environments, they should be able to reason about these relations and
generalize them to objects with different shapes and sizes. For example, having
learned to place a toy inside a basket, a robot should be able to generalize
this concept using a spoon and a cup. This requires a robot to have the
flexibility to learn arbitrary relations in a lifelong manner, making it
challenging for an expert to pre-program it with sufficient knowledge to do so
beforehand. In this paper, we address the problem of learning spatial relations
by introducing a novel method from the perspective of distance metric learning.
Our approach enables a robot to reason about the similarity between pairwise
spatial relations, thereby enabling it to use its previous knowledge when
presented with a new relation to imitate. We show how this makes it possible to
learn arbitrary spatial relations from non-expert users using a small number of
examples and in an interactive manner. Our extensive evaluation with real-world
data demonstrates the effectiveness of our method in reasoning about a
continuous spectrum of spatial relations and generalizing them to new objects.Comment: Accepted at the 2017 IEEE/RSJ International Conference on Intelligent
Robots and Systems. The new Freiburg Spatial Relations Dataset and a demo
video of our approach running on the PR-2 robot are available at our project
website: http://spatialrelations.cs.uni-freiburg.d
Synthesizing Program Input Grammars
We present an algorithm for synthesizing a context-free grammar encoding the
language of valid program inputs from a set of input examples and blackbox
access to the program. Our algorithm addresses shortcomings of existing grammar
inference algorithms, which both severely overgeneralize and are prohibitively
slow. Our implementation, GLADE, leverages the grammar synthesized by our
algorithm to fuzz test programs with structured inputs. We show that GLADE
substantially increases the incremental coverage on valid inputs compared to
two baseline fuzzers
Optimization Beyond the Convolution: Generalizing Spatial Relations with End-to-End Metric Learning
To operate intelligently in domestic environments, robots require the ability
to understand arbitrary spatial relations between objects and to generalize
them to objects of varying sizes and shapes. In this work, we present a novel
end-to-end approach to generalize spatial relations based on distance metric
learning. We train a neural network to transform 3D point clouds of objects to
a metric space that captures the similarity of the depicted spatial relations,
using only geometric models of the objects. Our approach employs gradient-based
optimization to compute object poses in order to imitate an arbitrary target
relation by reducing the distance to it under the learned metric. Our results
based on simulated and real-world experiments show that the proposed method
enables robots to generalize spatial relations to unknown objects over a
continuous spectrum.Comment: Accepted for publication at ICRA2018. Supplementary Video:
http://spatialrelations.cs.uni-freiburg.de
Theorizing and Generalizing About Risk Assessment and Regulation Through Comparative Nested Analysis of Representative Cases
This article provides a framework and offers strategies for theorizing and generalizing about risk assessment and regulation developed in the context of an on-going comparative study of regulatory behavior. Construction of a universe of nearly 3,000 risks and study of a random sample of 100 of these risks allowed us to estimate relative U.S. and European regulatory precaution over a thirty-five-year period. Comparative nested analysis of cases selected from this universe of ecological, health, safety, and other risks or its eighteen categories or ninety-two subcategories of risk sources or causes will allow theory-testing and -building and many further descriptive and causal comparative generalizations
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