32,526 research outputs found
Learning to Rank from Samples of Variable Quality
Training deep neural networks requires many training samples, but in
practice, training labels are expensive to obtain and may be of varying
quality, as some may be from trusted expert labelers while others might be from
heuristics or other sources of weak supervision such as crowd-sourcing. This
creates a fundamental quality-versus quantity trade-off in the learning
process. Do we learn from the small amount of high-quality data or the
potentially large amount of weakly-labeled data? We argue that if the learner
could somehow know and take the label-quality into account when learning the
data representation, we could get the best of both worlds. To this end, we
introduce "fidelity-weighted learning" (FWL), a semi-supervised student-teacher
approach for training deep neural networks using weakly-labeled data. FWL
modulates the parameter updates to a student network (trained on the task we
care about) on a per-sample basis according to the posterior confidence of its
label-quality estimated by a teacher (who has access to the high-quality
labels). Both student and teacher are learned from the data. We evaluate FWL on
document ranking where we outperform state-of-the-art alternative
semi-supervised methods.Comment: Presented at The First International SIGIR2016 Workshop on Learning
From Limited Or Noisy Data For Information Retrieval. arXiv admin note:
substantial text overlap with arXiv:1711.0279
Towards Error Handling in a DSL for Robot Assembly Tasks
This work-in-progress paper presents our work with a domain specific language
(DSL) for tackling the issue of programming robots for small-sized batch
production. We observe that as the complexity of assembly increases so does the
likelihood of errors, and these errors need to be addressed. Nevertheless, it
is essential that programming and setting up the assembly remains fast, allows
quick changeovers, easy adjustments and reconfigurations. In this paper we
present an initial design and implementation of extending an existing DSL for
assembly operations with error specification, error handling and advanced move
commands incorporating error tolerance. The DSL is used as part of a framework
that aims at tackling uncertainties through a probabilistic approach.Comment: Presented at DSLRob 2014 (arXiv:cs/1411.7148
Imitating Driver Behavior with Generative Adversarial Networks
The ability to accurately predict and simulate human driving behavior is
critical for the development of intelligent transportation systems. Traditional
modeling methods have employed simple parametric models and behavioral cloning.
This paper adopts a method for overcoming the problem of cascading errors
inherent in prior approaches, resulting in realistic behavior that is robust to
trajectory perturbations. We extend Generative Adversarial Imitation Learning
to the training of recurrent policies, and we demonstrate that our model
outperforms rule-based controllers and maximum likelihood models in realistic
highway simulations. Our model both reproduces emergent behavior of human
drivers, such as lane change rate, while maintaining realistic control over
long time horizons.Comment: 8 pages, 6 figure
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