30,016 research outputs found
Assessing hyper parameter optimization and speedup for convolutional neural networks
The increased processing power of graphical processing units (GPUs) and the availability of large image datasets has fostered a renewed interest in extracting semantic information from images. Promising results for complex image categorization problems have been achieved using deep learning, with neural networks comprised of many layers. Convolutional neural networks (CNN) are one such architecture which provides more opportunities for image classification. Advances in CNN enable the development of training models using large labelled image datasets, but the hyper parameters need to be specified, which is challenging and complex due to the large number of parameters. A substantial amount of computational power and processing time is required to determine the optimal hyper parameters to define a model yielding good results. This article provides a survey of the hyper parameter search and optimization methods for CNN architectures
Computing server power modeling in a data center: survey,taxonomy and performance evaluation
Data centers are large scale, energy-hungry infrastructure serving the
increasing computational demands as the world is becoming more connected in
smart cities. The emergence of advanced technologies such as cloud-based
services, internet of things (IoT) and big data analytics has augmented the
growth of global data centers, leading to high energy consumption. This upsurge
in energy consumption of the data centers not only incurs the issue of surging
high cost (operational and maintenance) but also has an adverse effect on the
environment. Dynamic power management in a data center environment requires the
cognizance of the correlation between the system and hardware level performance
counters and the power consumption. Power consumption modeling exhibits this
correlation and is crucial in designing energy-efficient optimization
strategies based on resource utilization. Several works in power modeling are
proposed and used in the literature. However, these power models have been
evaluated using different benchmarking applications, power measurement
techniques and error calculation formula on different machines. In this work,
we present a taxonomy and evaluation of 24 software-based power models using a
unified environment, benchmarking applications, power measurement technique and
error formula, with the aim of achieving an objective comparison. We use
different servers architectures to assess the impact of heterogeneity on the
models' comparison. The performance analysis of these models is elaborated in
the paper
More Than a Feeling: Learning to Grasp and Regrasp using Vision and Touch
For humans, the process of grasping an object relies heavily on rich tactile
feedback. Most recent robotic grasping work, however, has been based only on
visual input, and thus cannot easily benefit from feedback after initiating
contact. In this paper, we investigate how a robot can learn to use tactile
information to iteratively and efficiently adjust its grasp. To this end, we
propose an end-to-end action-conditional model that learns regrasping policies
from raw visuo-tactile data. This model -- a deep, multimodal convolutional
network -- predicts the outcome of a candidate grasp adjustment, and then
executes a grasp by iteratively selecting the most promising actions. Our
approach requires neither calibration of the tactile sensors, nor any
analytical modeling of contact forces, thus reducing the engineering effort
required to obtain efficient grasping policies. We train our model with data
from about 6,450 grasping trials on a two-finger gripper equipped with GelSight
high-resolution tactile sensors on each finger. Across extensive experiments,
our approach outperforms a variety of baselines at (i) estimating grasp
adjustment outcomes, (ii) selecting efficient grasp adjustments for quick
grasping, and (iii) reducing the amount of force applied at the fingers, while
maintaining competitive performance. Finally, we study the choices made by our
model and show that it has successfully acquired useful and interpretable
grasping behaviors.Comment: 8 pages. Published on IEEE Robotics and Automation Letters (RAL).
Website: https://sites.google.com/view/more-than-a-feelin
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