AutoEncoder Inspired Unsupervised Feature Selection

High-dimensional data in many areas such as computer vision and machine learning tasks brings in computational and analytical difficulty. Feature selection which selects a subset from observed features is a widely used approach for improving performance and effectiveness of machine learning models with high-dimensional data. In this paper, we propose a novel AutoEncoder Feature Selector (AEFS) for unsupervised feature selection which combines autoencoder regression and group lasso tasks. Compared to traditional feature selection methods, AEFS can select the most important features by excavating both linear and nonlinear information among features, which is more flexible than the conventional self-representation method for unsupervised feature selection with only linear assumptions. Experimental results on benchmark dataset show that the proposed method is superior to the state-of-the-art method.Comment: accepted by ICASSP 201

Vision-Based Multi-Task Manipulation for Inexpensive Robots Using End-To-End Learning from Demonstration

We propose a technique for multi-task learning from demonstration that trains the controller of a low-cost robotic arm to accomplish several complex picking and placing tasks, as well as non-prehensile manipulation. The controller is a recurrent neural network using raw images as input and generating robot arm trajectories, with the parameters shared across the tasks. The controller also combines VAE-GAN-based reconstruction with autoregressive multimodal action prediction. Our results demonstrate that it is possible to learn complex manipulation tasks, such as picking up a towel, wiping an object, and depositing the towel to its previous position, entirely from raw images with direct behavior cloning. We show that weight sharing and reconstruction-based regularization substantially improve generalization and robustness, and training on multiple tasks simultaneously increases the success rate on all tasks