8,554 research outputs found
Modular lifelong machine learning
Deep learning has drastically improved the state-of-the-art in many important fields, including computer vision and natural language processing (LeCun et al., 2015). However, it is expensive to train a deep neural network on a machine learning problem. The overall training cost further increases when one wants to solve additional problems. Lifelong machine learning (LML) develops algorithms that aim to efficiently learn to solve a sequence of problems, which become available one at a time. New problems are solved with less resources by transferring previously learned knowledge. At the same time, an LML algorithm needs to retain good performance on all encountered problems, thus avoiding catastrophic forgetting. Current approaches do not possess all the desired properties of an LML algorithm. First, they primarily focus on preventing catastrophic forgetting (Diaz-Rodriguez et al., 2018; Delange et al., 2021). As a result, they neglect some knowledge transfer properties. Furthermore, they assume that all problems in a sequence share the same input space. Finally, scaling these methods to a large sequence of problems remains a challenge.
Modular approaches to deep learning decompose a deep neural network into sub-networks, referred to as modules. Each module can then be trained to perform an atomic transformation, specialised in processing a distinct subset of inputs. This modular approach to storing knowledge makes it easy to only reuse the subset of modules which are useful for the task at hand.
This thesis introduces a line of research which demonstrates the merits of a modular approach to lifelong machine learning, and its ability to address the aforementioned shortcomings of other methods. Compared to previous work, we show that a modular approach can be used to achieve more LML properties than previously demonstrated. Furthermore, we develop tools which allow modular LML algorithms to scale in order to retain said properties on longer sequences of problems.
First, we introduce HOUDINI, a neurosymbolic framework for modular LML. HOUDINI represents modular deep neural networks as functional programs and accumulates a library of pre-trained modules over a sequence of problems. Given a new problem, we use program synthesis to select a suitable neural architecture, as well as a high-performing combination of pre-trained and new modules. We show that our approach has most of the properties desired from an LML algorithm. Notably, it can perform forward transfer, avoid negative transfer and prevent catastrophic forgetting, even across problems with disparate input domains and problems which require different neural architectures.
Second, we produce a modular LML algorithm which retains the properties of HOUDINI but can also scale to longer sequences of problems. To this end, we fix the choice of a neural architecture and introduce a probabilistic search framework, PICLE, for searching through different module combinations. To apply PICLE, we introduce two probabilistic models over neural modules which allows us to efficiently identify promising module combinations.
Third, we phrase the search over module combinations in modular LML as black-box optimisation, which allows one to make use of methods from the setting of hyperparameter optimisation (HPO). We then develop a new HPO method which marries a multi-fidelity approach with model-based optimisation. We demonstrate that this leads to improvement in anytime performance in the HPO setting and discuss how this can in turn be used to augment modular LML methods.
Overall, this thesis identifies a number of important LML properties, which have not all been attained in past methods, and presents an LML algorithm which can achieve all of them, apart from backward transfer
The State of the Art in Deep Learning Applications, Challenges, and Future Prospects::A Comprehensive Review of Flood Forecasting and Management
Floods are a devastating natural calamity that may seriously harm both infrastructure and people. Accurate flood forecasts and control are essential to lessen these effects and safeguard populations. By utilizing its capacity to handle massive amounts of data and provide accurate forecasts, deep learning has emerged as a potent tool for improving flood prediction and control. The current state of deep learning applications in flood forecasting and management is thoroughly reviewed in this work. The review discusses a variety of subjects, such as the data sources utilized, the deep learning models used, and the assessment measures adopted to judge their efficacy. It assesses current approaches critically and points out their advantages and disadvantages. The article also examines challenges with data accessibility, the interpretability of deep learning models, and ethical considerations in flood prediction. The report also describes potential directions for deep-learning research to enhance flood predictions and control. Incorporating uncertainty estimates into forecasts, integrating many data sources, developing hybrid models that mix deep learning with other methodologies, and enhancing the interpretability of deep learning models are a few of these. These research goals can help deep learning models become more precise and effective, which will result in better flood control plans and forecasts. Overall, this review is a useful resource for academics and professionals working on the topic of flood forecasting and management. By reviewing the current state of the art, emphasizing difficulties, and outlining potential areas for future study, it lays a solid basis. Communities may better prepare for and lessen the destructive effects of floods by implementing cutting-edge deep learning algorithms, thereby protecting people and infrastructure
Beam scanning by liquid-crystal biasing in a modified SIW structure
A fixed-frequency beam-scanning 1D antenna based on Liquid Crystals (LCs) is designed for application in 2D scanning with lateral alignment. The 2D array environment imposes full decoupling of adjacent 1D antennas, which often conflicts with the LC requirement of DC biasing: the proposed design accommodates both. The LC medium is placed inside a Substrate Integrated Waveguide (SIW) modified to work as a Groove Gap Waveguide, with radiating slots etched on the upper broad wall, that radiates as a Leaky-Wave Antenna (LWA). This allows effective application of the DC bias voltage needed for tuning the LCs. At the same time, the RF field remains laterally confined, enabling the possibility to lay several antennas in parallel and achieve 2D beam scanning. The design is validated by simulation employing the actual properties of a commercial LC medium
Reinforcement learning in large state action spaces
Reinforcement learning (RL) is a promising framework for training intelligent agents which learn to optimize long term utility by directly interacting with the environment. Creating RL methods which scale to large state-action spaces is a critical problem towards ensuring real world deployment of RL systems. However, several challenges limit the applicability of RL to large scale settings. These include difficulties with exploration, low sample efficiency, computational intractability, task constraints like decentralization and lack of guarantees about important properties like performance, generalization and robustness in potentially unseen scenarios.
This thesis is motivated towards bridging the aforementioned gap. We propose several principled algorithms and frameworks for studying and addressing the above challenges RL. The proposed methods cover a wide range of RL settings (single and multi-agent systems (MAS) with all the variations in the latter, prediction and control, model-based and model-free methods, value-based and policy-based methods). In this work we propose the first results on several different problems: e.g. tensorization of the Bellman equation which allows exponential sample efficiency gains (Chapter 4), provable suboptimality arising from structural constraints in MAS(Chapter 3), combinatorial generalization results in cooperative MAS(Chapter 5), generalization results on observation shifts(Chapter 7), learning deterministic policies in a probabilistic RL framework(Chapter 6). Our algorithms exhibit provably enhanced performance and sample efficiency along with better scalability. Additionally, we also shed light on generalization aspects of the agents under different frameworks. These properties have been been driven by the use of several advanced tools (e.g. statistical machine learning, state abstraction, variational inference, tensor theory).
In summary, the contributions in this thesis significantly advance progress towards making RL agents ready for large scale, real world applications
ABC: Adaptive, Biomimetic, Configurable Robots for Smart Farms - From Cereal Phenotyping to Soft Fruit Harvesting
Currently, numerous factors, such as demographics, migration patterns, and economics, are leading to the critical labour shortage in low-skilled and physically demanding parts of agriculture. Thus, robotics can be developed for the agricultural sector to address these shortages. This study aims to develop an adaptive, biomimetic, and configurable modular robotics architecture that can be applied to multiple tasks (e.g., phenotyping, cutting, and picking), various crop varieties (e.g., wheat, strawberry, and tomato) and growing conditions. These robotic solutions cover the entire perception–action–decision-making loop targeting the phenotyping of cereals and harvesting fruits in a natural environment.
The primary contributions of this thesis are as follows. a) A high-throughput method for imaging field-grown wheat in three dimensions, along with an accompanying unsupervised measuring method for obtaining individual wheat spike data are presented. The unsupervised method analyses the 3D point cloud of each trial plot, containing hundreds of wheat spikes, and calculates the average size of the wheat spike and total spike volume per plot. Experimental results reveal that the proposed algorithm can effectively identify spikes from wheat crops and individual spikes. b) Unlike cereal, soft fruit is typically harvested by manual selection and picking. To enable robotic harvesting, the initial perception system uses conditional generative adversarial networks to identify ripe fruits using synthetic data. To determine whether the strawberry is surrounded by obstacles, a cluster complexity-based perception system is further developed to classify the harvesting complexity of ripe strawberries. c) Once the harvest-ready fruit is localised using point cloud data generated by a stereo camera, the platform’s action system can coordinate the arm to reach/cut the stem using the passive motion paradigm framework, as inspired by studies on neural control of movement in the brain. Results from field trials for strawberry detection, reaching/cutting the stem of the fruit with a mean error of less than 3 mm, and extension to analysing complex canopy structures/bimanual coordination (searching/picking) are presented.
Although this thesis focuses on strawberry harvesting, ongoing research is heading toward adapting the architecture to other crops. The agricultural food industry remains a labour-intensive sector with a low margin, and cost- and time-efficiency business model. The concepts presented herein can serve as a reference for future agricultural robots that are adaptive, biomimetic, and configurable
Intelligent architecture to support second generation general accounting
Dissertation presented as the partial requirement for obtaining a Master's degree in Statistics and Information Management, specialization in Information Analysis and ManagementThis study aimed to innovate the world of accounting software. After so many years, accountants are faced
with an unbelievable amount of work, which is not always productive, effective and efficient for both the
accountant and the company that provided him with the data required to carry out the accounting. There is
already accounting software with various automation processes, from ornamentation to profitability analysis
and management reporting. There is also software that is updated in accordance with the accounting laws,
i.e., the platform changes its mechanisms according to the changes in the law.
Despite the existence of this software, manual work remains, and the amount of information accountants are
faced with is still very large. It is difficult for accountants to do a 100% reliable job with so much information
and data they have. One of the most common situations in the accounting world is undoubtedly the
miscalculation or forgetting of some financial or non-financial data found in accounting operations (income
statements, balance sheets, etc.). To render accounting operations efficient, effective and productive, errorfree
and 100% reliable, an intelligent architecture has been developed to support second generation general
accounting. This architectural design was developed with a view to make the existing software smarter with
the help of artificial intelligence.
A study was carried out on accounting keys and concepts, on AI and main process automation techniques to
build the model. With these studies it was intended to acquire all possible requirements for the creation of the
architecture. Towards the end of the thesis the model was validated
A Comprehensive Review on Ontologies for Scenario-based Testing in the Context of Autonomous Driving
The verification and validation of autonomous driving vehicles remains a
major challenge due to the high complexity of autonomous driving functions.
Scenario-based testing is a promising method for validating such a complex
system. Ontologies can be utilized to produce test scenarios that are both
meaningful and relevant. One crucial aspect of this process is selecting the
appropriate method for describing the entities involved. The level of detail
and specific entity classes required will vary depending on the system being
tested. It is important to choose an ontology that properly reflects these
needs.
This paper summarizes key representative ontologies for scenario-based
testing and related use cases in the field of autonomous driving. The
considered ontologies are classified according to their level of detail for
both static facts and dynamic aspects. Furthermore, the ontologies are
evaluated based on the presence of important entity classes and the relations
between them
The European AI Liability Directives -- Critique of a Half-Hearted Approach and Lessons for the Future
As ChatGPT et al. conquer the world, the optimal liability framework for AI
systems remains an unsolved problem across the globe. In a much-anticipated
move, the European Commission advanced two proposals outlining the European
approach to AI liability in September 2022: a novel AI Liability Directive and
a revision of the Product Liability Directive. They constitute the final
cornerstone of EU AI regulation. Crucially, the liability proposals and the EU
AI Act are inherently intertwined: the latter does not contain any individual
rights of affected persons, and the former lack specific, substantive rules on
AI development and deployment. Taken together, these acts may well trigger a
Brussels Effect in AI regulation, with significant consequences for the US and
beyond.
This paper makes three novel contributions. First, it examines in detail the
Commission proposals and shows that, while making steps in the right direction,
they ultimately represent a half-hearted approach: if enacted as foreseen, AI
liability in the EU will primarily rest on disclosure of evidence mechanisms
and a set of narrowly defined presumptions concerning fault, defectiveness and
causality. Hence, second, the article suggests amendments, which are collected
in an Annex at the end of the paper. Third, based on an analysis of the key
risks AI poses, the final part of the paper maps out a road for the future of
AI liability and regulation, in the EU and beyond. This includes: a
comprehensive framework for AI liability; provisions to support innovation; an
extension to non-discrimination/algorithmic fairness, as well as explainable
AI; and sustainability. I propose to jump-start sustainable AI regulation via
sustainability impact assessments in the AI Act and sustainable design defects
in the liability regime. In this way, the law may help spur not only fair AI
and XAI, but potentially also sustainable AI (SAI).Comment: under peer-review; contains 3 Table
The Metaverse: Survey, Trends, Novel Pipeline Ecosystem & Future Directions
The Metaverse offers a second world beyond reality, where boundaries are
non-existent, and possibilities are endless through engagement and immersive
experiences using the virtual reality (VR) technology. Many disciplines can
benefit from the advancement of the Metaverse when accurately developed,
including the fields of technology, gaming, education, art, and culture.
Nevertheless, developing the Metaverse environment to its full potential is an
ambiguous task that needs proper guidance and directions. Existing surveys on
the Metaverse focus only on a specific aspect and discipline of the Metaverse
and lack a holistic view of the entire process. To this end, a more holistic,
multi-disciplinary, in-depth, and academic and industry-oriented review is
required to provide a thorough study of the Metaverse development pipeline. To
address these issues, we present in this survey a novel multi-layered pipeline
ecosystem composed of (1) the Metaverse computing, networking, communications
and hardware infrastructure, (2) environment digitization, and (3) user
interactions. For every layer, we discuss the components that detail the steps
of its development. Also, for each of these components, we examine the impact
of a set of enabling technologies and empowering domains (e.g., Artificial
Intelligence, Security & Privacy, Blockchain, Business, Ethics, and Social) on
its advancement. In addition, we explain the importance of these technologies
to support decentralization, interoperability, user experiences, interactions,
and monetization. Our presented study highlights the existing challenges for
each component, followed by research directions and potential solutions. To the
best of our knowledge, this survey is the most comprehensive and allows users,
scholars, and entrepreneurs to get an in-depth understanding of the Metaverse
ecosystem to find their opportunities and potentials for contribution
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