14,899 research outputs found
Memory Augmented Control Networks
Planning problems in partially observable environments cannot be solved
directly with convolutional networks and require some form of memory. But, even
memory networks with sophisticated addressing schemes are unable to learn
intelligent reasoning satisfactorily due to the complexity of simultaneously
learning to access memory and plan. To mitigate these challenges we introduce
the Memory Augmented Control Network (MACN). The proposed network architecture
consists of three main parts. The first part uses convolutions to extract
features and the second part uses a neural network-based planning module to
pre-plan in the environment. The third part uses a network controller that
learns to store those specific instances of past information that are necessary
for planning. The performance of the network is evaluated in discrete grid
world environments for path planning in the presence of simple and complex
obstacles. We show that our network learns to plan and can generalize to new
environments
Neural Network Memory Architectures for Autonomous Robot Navigation
This paper highlights the significance of including memory structures in
neural networks when the latter are used to learn perception-action loops for
autonomous robot navigation. Traditional navigation approaches rely on global
maps of the environment to overcome cul-de-sacs and plan feasible motions. Yet,
maintaining an accurate global map may be challenging in real-world settings. A
possible way to mitigate this limitation is to use learning techniques that
forgo hand-engineered map representations and infer appropriate control
responses directly from sensed information. An important but unexplored aspect
of such approaches is the effect of memory on their performance. This work is a
first thorough study of memory structures for deep-neural-network-based robot
navigation, and offers novel tools to train such networks from supervision and
quantify their ability to generalize to unseen scenarios. We analyze the
separation and generalization abilities of feedforward, long short-term memory,
and differentiable neural computer networks. We introduce a new method to
evaluate the generalization ability by estimating the VC-dimension of networks
with a final linear readout layer. We validate that the VC estimates are good
predictors of actual test performance. The reported method can be applied to
deep learning problems beyond robotics
Deep Learning Techniques for Music Generation -- A Survey
This paper is a survey and an analysis of different ways of using deep
learning (deep artificial neural networks) to generate musical content. We
propose a methodology based on five dimensions for our analysis:
Objective - What musical content is to be generated? Examples are: melody,
polyphony, accompaniment or counterpoint. - For what destination and for what
use? To be performed by a human(s) (in the case of a musical score), or by a
machine (in the case of an audio file).
Representation - What are the concepts to be manipulated? Examples are:
waveform, spectrogram, note, chord, meter and beat. - What format is to be
used? Examples are: MIDI, piano roll or text. - How will the representation be
encoded? Examples are: scalar, one-hot or many-hot.
Architecture - What type(s) of deep neural network is (are) to be used?
Examples are: feedforward network, recurrent network, autoencoder or generative
adversarial networks.
Challenge - What are the limitations and open challenges? Examples are:
variability, interactivity and creativity.
Strategy - How do we model and control the process of generation? Examples
are: single-step feedforward, iterative feedforward, sampling or input
manipulation.
For each dimension, we conduct a comparative analysis of various models and
techniques and we propose some tentative multidimensional typology. This
typology is bottom-up, based on the analysis of many existing deep-learning
based systems for music generation selected from the relevant literature. These
systems are described and are used to exemplify the various choices of
objective, representation, architecture, challenge and strategy. The last
section includes some discussion and some prospects.Comment: 209 pages. This paper is a simplified version of the book: J.-P.
Briot, G. Hadjeres and F.-D. Pachet, Deep Learning Techniques for Music
Generation, Computational Synthesis and Creative Systems, Springer, 201
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