Visual Imitation Learning with Recurrent Siamese Networks

It would be desirable for a reinforcement learning (RL) based agent to learn behaviour by merely watching a demonstration. However, defining rewards that facilitate this goal within the RL paradigm remains a challenge. Here we address this problem with Siamese networks, trained to compute distances between observed behaviours and the agent's behaviours. Given a desired motion such Siamese networks can be used to provide a reward signal to an RL agent via the distance between the desired motion and the agent's motion. We experiment with an RNN-based comparator model that can compute distances in space and time between motion clips while training an RL policy to minimize this distance. Through experimentation, we have had also found that the inclusion of multi-task data and an additional image encoding loss helps enforce the temporal consistency. These two components appear to balance reward for matching a specific instance of behaviour versus that behaviour in general. Furthermore, we focus here on a particularly challenging form of this problem where only a single demonstration is provided for a given task -- the one-shot learning setting. We demonstrate our approach on humanoid agents in both 2D with $10$ degrees of freedom (DoF) and 3D with $38$ DoF.Comment: PrePrin

Fast Face-swap Using Convolutional Neural Networks

We consider the problem of face swapping in images, where an input identity is transformed into a target identity while preserving pose, facial expression, and lighting. To perform this mapping, we use convolutional neural networks trained to capture the appearance of the target identity from an unstructured collection of his/her photographs.This approach is enabled by framing the face swapping problem in terms of style transfer, where the goal is to render an image in the style of another one. Building on recent advances in this area, we devise a new loss function that enables the network to produce highly photorealistic results. By combining neural networks with simple pre- and post-processing steps, we aim at making face swap work in real-time with no input from the user

GHOST: Building blocks for high performance sparse linear algebra on heterogeneous systems

While many of the architectural details of future exascale-class high performance computer systems are still a matter of intense research, there appears to be a general consensus that they will be strongly heterogeneous, featuring "standard" as well as "accelerated" resources. Today, such resources are available as multicore processors, graphics processing units (GPUs), and other accelerators such as the Intel Xeon Phi. Any software infrastructure that claims usefulness for such environments must be able to meet their inherent challenges: massive multi-level parallelism, topology, asynchronicity, and abstraction. The "General, Hybrid, and Optimized Sparse Toolkit" (GHOST) is a collection of building blocks that targets algorithms dealing with sparse matrix representations on current and future large-scale systems. It implements the "MPI+X" paradigm, has a pure C interface, and provides hybrid-parallel numerical kernels, intelligent resource management, and truly heterogeneous parallelism for multicore CPUs, Nvidia GPUs, and the Intel Xeon Phi. We describe the details of its design with respect to the challenges posed by modern heterogeneous supercomputers and recent algorithmic developments. Implementation details which are indispensable for achieving high efficiency are pointed out and their necessity is justified by performance measurements or predictions based on performance models. The library code and several applications are available as open source. We also provide instructions on how to make use of GHOST in existing software packages, together with a case study which demonstrates the applicability and performance of GHOST as a component within a larger software stack.Comment: 32 pages, 11 figure

Deep Reinforcement Learning for Resource Management in Network Slicing

Network slicing is born as an emerging business to operators, by allowing them to sell the customized slices to various tenants at different prices. In order to provide better-performing and cost-efficient services, network slicing involves challenging technical issues and urgently looks forward to intelligent innovations to make the resource management consistent with users' activities per slice. In that regard, deep reinforcement learning (DRL), which focuses on how to interact with the environment by trying alternative actions and reinforcing the tendency actions producing more rewarding consequences, is assumed to be a promising solution. In this paper, after briefly reviewing the fundamental concepts of DRL, we investigate the application of DRL in solving some typical resource management for network slicing scenarios, which include radio resource slicing and priority-based core network slicing, and demonstrate the advantage of DRL over several competing schemes through extensive simulations. Finally, we also discuss the possible challenges to apply DRL in network slicing from a general perspective.Comment: The manuscript has been accepted by IEEE Access in Nov. 201

Real Robot Challenge 2022: Learning Dexterous Manipulation from Offline Data in the Real World

Experimentation on real robots is demanding in terms of time and costs. For this reason, a large part of the reinforcement learning (RL) community uses simulators to develop and benchmark algorithms. However, insights gained in simulation do not necessarily translate to real robots, in particular for tasks involving complex interactions with the environment. The Real Robot Challenge 2022 therefore served as a bridge between the RL and robotics communities by allowing participants to experiment remotely with a real robot - as easily as in simulation. In the last years, offline reinforcement learning has matured into a promising paradigm for learning from pre-collected datasets, alleviating the reliance on expensive online interactions. We therefore asked the participants to learn two dexterous manipulation tasks involving pushing, grasping, and in-hand orientation from provided real-robot datasets. An extensive software documentation and an initial stage based on a simulation of the real set-up made the competition particularly accessible. By giving each team plenty of access budget to evaluate their offline-learned policies on a cluster of seven identical real TriFinger platforms, we organized an exciting competition for machine learners and roboticists alike. In this work we state the rules of the competition, present the methods used by the winning teams and compare their results with a benchmark of state-of-the-art offline RL algorithms on the challenge datasets

A multi-view approach to cDNA micro-array analysis

The official published version can be obtained from the link below.Microarray has emerged as a powerful technology that enables biologists to study thousands of genes simultaneously, therefore, to obtain a better understanding of the gene interaction and regulation mechanisms. This paper is concerned with improving the processes involved in the analysis of microarray image data. The main focus is to clarify an image's feature space in an unsupervised manner. In this paper, the Image Transformation Engine (ITE), combined with different filters, is investigated. The proposed methods are applied to a set of real-world cDNA images. The MatCNN toolbox is used during the segmentation process. Quantitative comparisons between different filters are carried out. It is shown that the CLD filter is the best one to be applied with the ITE.This work was supported in part by the Engineering and Physical Sciences Research Council (EPSRC) of the UK under Grant GR/S27658/01, the National Science Foundation of China under Innovative Grant 70621001, Chinese Academy of Sciences under Innovative Group Overseas Partnership Grant, the BHP Billiton Cooperation of Australia Grant, the International Science and Technology Cooperation Project of China under Grant 2009DFA32050 and the Alexander von Humboldt Foundation of Germany