Pairwise meta-rules for better meta-learning-based algorithm ranking

In this paper, we present a novel meta-feature generation method in the context of meta-learning, which is based on rules that compare the performance of individual base learners in a one-against-one manner. In addition to these new meta-features, we also introduce a new meta-learner called Approximate Ranking Tree Forests (ART Forests) that performs very competitively when compared with several state-of-the-art meta-learners. Our experimental results are based on a large collection of datasets and show that the proposed new techniques can improve the overall performance of meta-learning for algorithm ranking significantly. A key point in our approach is that each performance figure of any base learner for any specific dataset is generated by optimising the parameters of the base learner separately for each dataset

Learning to Run challenge solutions: Adapting reinforcement learning methods for neuromusculoskeletal environments

In the NIPS 2017 Learning to Run challenge, participants were tasked with building a controller for a musculoskeletal model to make it run as fast as possible through an obstacle course. Top participants were invited to describe their algorithms. In this work, we present eight solutions that used deep reinforcement learning approaches, based on algorithms such as Deep Deterministic Policy Gradient, Proximal Policy Optimization, and Trust Region Policy Optimization. Many solutions use similar relaxations and heuristics, such as reward shaping, frame skipping, discretization of the action space, symmetry, and policy blending. However, each of the eight teams implemented different modifications of the known algorithms.Comment: 27 pages, 17 figure

Real-Time RGB-D Camera Pose Estimation in Novel Scenes using a Relocalisation Cascade

Camera pose estimation is an important problem in computer vision. Common techniques either match the current image against keyframes with known poses, directly regress the pose, or establish correspondences between keypoints in the image and points in the scene to estimate the pose. In recent years, regression forests have become a popular alternative to establish such correspondences. They achieve accurate results, but have traditionally needed to be trained offline on the target scene, preventing relocalisation in new environments. Recently, we showed how to circumvent this limitation by adapting a pre-trained forest to a new scene on the fly. The adapted forests achieved relocalisation performance that was on par with that of offline forests, and our approach was able to estimate the camera pose in close to real time. In this paper, we present an extension of this work that achieves significantly better relocalisation performance whilst running fully in real time. To achieve this, we make several changes to the original approach: (i) instead of accepting the camera pose hypothesis without question, we make it possible to score the final few hypotheses using a geometric approach and select the most promising; (ii) we chain several instantiations of our relocaliser together in a cascade, allowing us to try faster but less accurate relocalisation first, only falling back to slower, more accurate relocalisation as necessary; and (iii) we tune the parameters of our cascade to achieve effective overall performance. These changes allow us to significantly improve upon the performance our original state-of-the-art method was able to achieve on the well-known 7-Scenes and Stanford 4 Scenes benchmarks. As additional contributions, we present a way of visualising the internal behaviour of our forests and show how to entirely circumvent the need to pre-train a forest on a generic scene.Comment: Tommaso Cavallari, Stuart Golodetz, Nicholas Lord and Julien Valentin assert joint first authorshi

Socializing the Semantic Gap: A Comparative Survey on Image Tag Assignment, Refinement and Retrieval

Where previous reviews on content-based image retrieval emphasize on what can be seen in an image to bridge the semantic gap, this survey considers what people tag about an image. A comprehensive treatise of three closely linked problems, i.e., image tag assignment, refinement, and tag-based image retrieval is presented. While existing works vary in terms of their targeted tasks and methodology, they rely on the key functionality of tag relevance, i.e. estimating the relevance of a specific tag with respect to the visual content of a given image and its social context. By analyzing what information a specific method exploits to construct its tag relevance function and how such information is exploited, this paper introduces a taxonomy to structure the growing literature, understand the ingredients of the main works, clarify their connections and difference, and recognize their merits and limitations. For a head-to-head comparison between the state-of-the-art, a new experimental protocol is presented, with training sets containing 10k, 100k and 1m images and an evaluation on three test sets, contributed by various research groups. Eleven representative works are implemented and evaluated. Putting all this together, the survey aims to provide an overview of the past and foster progress for the near future.Comment: to appear in ACM Computing Survey

An adaptable fuzzy-based model for predicting link quality in robot networks.

It is often essential for robots to maintain wireless connectivity with other systems so that commands, sensor data, and other situational information can be exchanged. Unfortunately, maintaining sufficient connection quality between these systems can be problematic. Robot mobility, combined with the attenuation and rapid dynamics associated with radio wave propagation, can cause frequent link quality (LQ) issues such as degraded throughput, temporary disconnects, or even link failure. In order to proactively mitigate such problems, robots must possess the capability, at the application layer, to gauge the quality of their wireless connections. However, many of the existing approaches lack adaptability or the framework necessary to rapidly build and sustain an accurate LQ prediction model. The primary contribution of this dissertation is the introduction of a novel way of blending machine learning with fuzzy logic so that an adaptable, yet intuitive LQ prediction model can be formed. Another significant contribution includes the evaluation of a unique active and incremental learning framework for quickly constructing and maintaining prediction models in robot networks with minimal sampling overhead