5,004 research outputs found
How hard is it to cross the room? -- Training (Recurrent) Neural Networks to steer a UAV
This work explores the feasibility of steering a drone with a (recurrent)
neural network, based on input from a forward looking camera, in the context of
a high-level navigation task. We set up a generic framework for training a
network to perform navigation tasks based on imitation learning. It can be
applied to both aerial and land vehicles. As a proof of concept we apply it to
a UAV (Unmanned Aerial Vehicle) in a simulated environment, learning to cross a
room containing a number of obstacles. So far only feedforward neural networks
(FNNs) have been used to train UAV control. To cope with more complex tasks, we
propose the use of recurrent neural networks (RNN) instead and successfully
train an LSTM (Long-Short Term Memory) network for controlling UAVs. Vision
based control is a sequential prediction problem, known for its highly
correlated input data. The correlation makes training a network hard,
especially an RNN. To overcome this issue, we investigate an alternative
sampling method during training, namely window-wise truncated backpropagation
through time (WW-TBPTT). Further, end-to-end training requires a lot of data
which often is not available. Therefore, we compare the performance of
retraining only the Fully Connected (FC) and LSTM control layers with networks
which are trained end-to-end. Performing the relatively simple task of crossing
a room already reveals important guidelines and good practices for training
neural control networks. Different visualizations help to explain the behavior
learned.Comment: 12 pages, 30 figure
Unbiased Offline Evaluation of Contextual-bandit-based News Article Recommendation Algorithms
Contextual bandit algorithms have become popular for online recommendation
systems such as Digg, Yahoo! Buzz, and news recommendation in general.
\emph{Offline} evaluation of the effectiveness of new algorithms in these
applications is critical for protecting online user experiences but very
challenging due to their "partial-label" nature. Common practice is to create a
simulator which simulates the online environment for the problem at hand and
then run an algorithm against this simulator. However, creating simulator
itself is often difficult and modeling bias is usually unavoidably introduced.
In this paper, we introduce a \emph{replay} methodology for contextual bandit
algorithm evaluation. Different from simulator-based approaches, our method is
completely data-driven and very easy to adapt to different applications. More
importantly, our method can provide provably unbiased evaluations. Our
empirical results on a large-scale news article recommendation dataset
collected from Yahoo! Front Page conform well with our theoretical results.
Furthermore, comparisons between our offline replay and online bucket
evaluation of several contextual bandit algorithms show accuracy and
effectiveness of our offline evaluation method.Comment: 10 pages, 7 figures, revised from the published version at the WSDM
2011 conferenc
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