81,135 research outputs found
PTE: Predictive Text Embedding through Large-scale Heterogeneous Text Networks
Unsupervised text embedding methods, such as Skip-gram and Paragraph Vector,
have been attracting increasing attention due to their simplicity, scalability,
and effectiveness. However, comparing to sophisticated deep learning
architectures such as convolutional neural networks, these methods usually
yield inferior results when applied to particular machine learning tasks. One
possible reason is that these text embedding methods learn the representation
of text in a fully unsupervised way, without leveraging the labeled information
available for the task. Although the low dimensional representations learned
are applicable to many different tasks, they are not particularly tuned for any
task. In this paper, we fill this gap by proposing a semi-supervised
representation learning method for text data, which we call the
\textit{predictive text embedding} (PTE). Predictive text embedding utilizes
both labeled and unlabeled data to learn the embedding of text. The labeled
information and different levels of word co-occurrence information are first
represented as a large-scale heterogeneous text network, which is then embedded
into a low dimensional space through a principled and efficient algorithm. This
low dimensional embedding not only preserves the semantic closeness of words
and documents, but also has a strong predictive power for the particular task.
Compared to recent supervised approaches based on convolutional neural
networks, predictive text embedding is comparable or more effective, much more
efficient, and has fewer parameters to tune.Comment: KDD 201
Deep Predictive Policy Training using Reinforcement Learning
Skilled robot task learning is best implemented by predictive action policies
due to the inherent latency of sensorimotor processes. However, training such
predictive policies is challenging as it involves finding a trajectory of motor
activations for the full duration of the action. We propose a data-efficient
deep predictive policy training (DPPT) framework with a deep neural network
policy architecture which maps an image observation to a sequence of motor
activations. The architecture consists of three sub-networks referred to as the
perception, policy and behavior super-layers. The perception and behavior
super-layers force an abstraction of visual and motor data trained with
synthetic and simulated training samples, respectively. The policy super-layer
is a small sub-network with fewer parameters that maps data in-between the
abstracted manifolds. It is trained for each task using methods for policy
search reinforcement learning. We demonstrate the suitability of the proposed
architecture and learning framework by training predictive policies for skilled
object grasping and ball throwing on a PR2 robot. The effectiveness of the
method is illustrated by the fact that these tasks are trained using only about
180 real robot attempts with qualitative terminal rewards.Comment: This work is submitted to IEEE/RSJ International Conference on
Intelligent Robots and Systems 2017 (IROS2017
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