3,111 research outputs found
Neural network controller against environment: A coevolutive approach to generalize robot navigation behavior
In this paper, a new coevolutive method, called Uniform Coevolution, is introduced to learn weights of a neural network controller in autonomous robots. An evolutionary strategy is used to learn high-performance reactive behavior for navigation and collisions avoidance. The introduction of coevolutive over evolutionary strategies allows evolving the environment, to learn a general behavior able to solve the problem in different environments. Using a traditional evolutionary strategy method, without coevolution, the learning process obtains a specialized behavior. All the behaviors obtained, with/without coevolution have been tested in a set of environments and the capability of generalization is shown for each learned behavior. A simulator based on a mini-robot Khepera has been used to learn each behavior. The results show that Uniform Coevolution obtains better generalized solutions to examples-based problems.Publicad
Evolutionary Algorithms for Reinforcement Learning
There are two distinct approaches to solving reinforcement learning problems,
namely, searching in value function space and searching in policy space.
Temporal difference methods and evolutionary algorithms are well-known examples
of these approaches. Kaelbling, Littman and Moore recently provided an
informative survey of temporal difference methods. This article focuses on the
application of evolutionary algorithms to the reinforcement learning problem,
emphasizing alternative policy representations, credit assignment methods, and
problem-specific genetic operators. Strengths and weaknesses of the
evolutionary approach to reinforcement learning are presented, along with a
survey of representative applications
Neural Nets trained by genetic algorithms for collision avoidance
As air traffic keeps increasing, many research programs focus on collision avoidance techniques. For short or medium term avoidance, new headings have to be computed almost on the spot, and feed forward neural nets are susceptible to find solutions in a much shorter amount of time than classical avoidance algorithms (A_, stochastic optimization, etc.) In this article, we show that a neural network can be built with unsupervised learning to compute nearly optimal trajectories to solve two aircraft conflicts with the highest reliability, while computing headings in a few milliseconds
Interpretable Categorization of Heterogeneous Time Series Data
Understanding heterogeneous multivariate time series data is important in
many applications ranging from smart homes to aviation. Learning models of
heterogeneous multivariate time series that are also human-interpretable is
challenging and not adequately addressed by the existing literature. We propose
grammar-based decision trees (GBDTs) and an algorithm for learning them. GBDTs
extend decision trees with a grammar framework. Logical expressions derived
from a context-free grammar are used for branching in place of simple
thresholds on attributes. The added expressivity enables support for a wide
range of data types while retaining the interpretability of decision trees. In
particular, when a grammar based on temporal logic is used, we show that GBDTs
can be used for the interpretable classi cation of high-dimensional and
heterogeneous time series data. Furthermore, we show how GBDTs can also be used
for categorization, which is a combination of clustering and generating
interpretable explanations for each cluster. We apply GBDTs to analyze the
classic Australian Sign Language dataset as well as data on near mid-air
collisions (NMACs). The NMAC data comes from aircraft simulations used in the
development of the next-generation Airborne Collision Avoidance System (ACAS
X).Comment: 9 pages, 5 figures, 2 tables, SIAM International Conference on Data
Mining (SDM) 201
Driver Distraction Identification with an Ensemble of Convolutional Neural Networks
The World Health Organization (WHO) reported 1.25 million deaths yearly due
to road traffic accidents worldwide and the number has been continuously
increasing over the last few years. Nearly fifth of these accidents are caused
by distracted drivers. Existing work of distracted driver detection is
concerned with a small set of distractions (mostly, cell phone usage).
Unreliable ad-hoc methods are often used.In this paper, we present the first
publicly available dataset for driver distraction identification with more
distraction postures than existing alternatives. In addition, we propose a
reliable deep learning-based solution that achieves a 90% accuracy. The system
consists of a genetically-weighted ensemble of convolutional neural networks,
we show that a weighted ensemble of classifiers using a genetic algorithm
yields in a better classification confidence. We also study the effect of
different visual elements in distraction detection by means of face and hand
localizations, and skin segmentation. Finally, we present a thinned version of
our ensemble that could achieve 84.64% classification accuracy and operate in a
real-time environment.Comment: arXiv admin note: substantial text overlap with arXiv:1706.0949
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