17,696 research outputs found
Exploring Large Feature Spaces with Hierarchical Multiple Kernel Learning
For supervised and unsupervised learning, positive definite kernels allow to
use large and potentially infinite dimensional feature spaces with a
computational cost that only depends on the number of observations. This is
usually done through the penalization of predictor functions by Euclidean or
Hilbertian norms. In this paper, we explore penalizing by sparsity-inducing
norms such as the l1-norm or the block l1-norm. We assume that the kernel
decomposes into a large sum of individual basis kernels which can be embedded
in a directed acyclic graph; we show that it is then possible to perform kernel
selection through a hierarchical multiple kernel learning framework, in
polynomial time in the number of selected kernels. This framework is naturally
applied to non linear variable selection; our extensive simulations on
synthetic datasets and datasets from the UCI repository show that efficiently
exploring the large feature space through sparsity-inducing norms leads to
state-of-the-art predictive performance
Value Iteration Networks on Multiple Levels of Abstraction
Learning-based methods are promising to plan robot motion without performing
extensive search, which is needed by many non-learning approaches. Recently,
Value Iteration Networks (VINs) received much interest since---in contrast to
standard CNN-based architectures---they learn goal-directed behaviors which
generalize well to unseen domains. However, VINs are restricted to small and
low-dimensional domains, limiting their applicability to real-world planning
problems.
To address this issue, we propose to extend VINs to representations with
multiple levels of abstraction. While the vicinity of the robot is represented
in sufficient detail, the representation gets spatially coarser with increasing
distance from the robot. The information loss caused by the decreasing
resolution is compensated by increasing the number of features representing a
cell. We show that our approach is capable of solving significantly larger 2D
grid world planning tasks than the original VIN implementation. In contrast to
a multiresolution coarse-to-fine VIN implementation which does not employ
additional descriptive features, our approach is capable of solving challenging
environments, which demonstrates that the proposed method learns to encode
useful information in the additional features. As an application for solving
real-world planning tasks, we successfully employ our method to plan
omnidirectional driving for a search-and-rescue robot in cluttered terrain
Data-Driven Shape Analysis and Processing
Data-driven methods play an increasingly important role in discovering
geometric, structural, and semantic relationships between 3D shapes in
collections, and applying this analysis to support intelligent modeling,
editing, and visualization of geometric data. In contrast to traditional
approaches, a key feature of data-driven approaches is that they aggregate
information from a collection of shapes to improve the analysis and processing
of individual shapes. In addition, they are able to learn models that reason
about properties and relationships of shapes without relying on hard-coded
rules or explicitly programmed instructions. We provide an overview of the main
concepts and components of these techniques, and discuss their application to
shape classification, segmentation, matching, reconstruction, modeling and
exploration, as well as scene analysis and synthesis, through reviewing the
literature and relating the existing works with both qualitative and numerical
comparisons. We conclude our report with ideas that can inspire future research
in data-driven shape analysis and processing.Comment: 10 pages, 19 figure
A Convex Feature Learning Formulation for Latent Task Structure Discovery
This paper considers the multi-task learning problem and in the setting where
some relevant features could be shared across few related tasks. Most of the
existing methods assume the extent to which the given tasks are related or
share a common feature space to be known apriori. In real-world applications
however, it is desirable to automatically discover the groups of related tasks
that share a feature space. In this paper we aim at searching the exponentially
large space of all possible groups of tasks that may share a feature space. The
main contribution is a convex formulation that employs a graph-based
regularizer and simultaneously discovers few groups of related tasks, having
close-by task parameters, as well as the feature space shared within each
group. The regularizer encodes an important structure among the groups of tasks
leading to an efficient algorithm for solving it: if there is no feature space
under which a group of tasks has close-by task parameters, then there does not
exist such a feature space for any of its supersets. An efficient active set
algorithm that exploits this simplification and performs a clever search in the
exponentially large space is presented. The algorithm is guaranteed to solve
the proposed formulation (within some precision) in a time polynomial in the
number of groups of related tasks discovered. Empirical results on benchmark
datasets show that the proposed formulation achieves good generalization and
outperforms state-of-the-art multi-task learning algorithms in some cases.Comment: ICML201
Online Deep Metric Learning
Metric learning learns a metric function from training data to calculate the
similarity or distance between samples. From the perspective of feature
learning, metric learning essentially learns a new feature space by feature
transformation (e.g., Mahalanobis distance metric). However, traditional metric
learning algorithms are shallow, which just learn one metric space (feature
transformation). Can we further learn a better metric space from the learnt
metric space? In other words, can we learn metric progressively and nonlinearly
like deep learning by just using the existing metric learning algorithms? To
this end, we present a hierarchical metric learning scheme and implement an
online deep metric learning framework, namely ODML. Specifically, we take one
online metric learning algorithm as a metric layer, followed by a nonlinear
layer (i.e., ReLU), and then stack these layers modelled after the deep
learning. The proposed ODML enjoys some nice properties, indeed can learn
metric progressively and performs superiorly on some datasets. Various
experiments with different settings have been conducted to verify these
properties of the proposed ODML.Comment: 9 page
Deep Neural Networks Rival the Representation of Primate IT Cortex for Core Visual Object Recognition
The primate visual system achieves remarkable visual object recognition
performance even in brief presentations and under changes to object exemplar,
geometric transformations, and background variation (a.k.a. core visual object
recognition). This remarkable performance is mediated by the representation
formed in inferior temporal (IT) cortex. In parallel, recent advances in
machine learning have led to ever higher performing models of object
recognition using artificial deep neural networks (DNNs). It remains unclear,
however, whether the representational performance of DNNs rivals that of the
brain. To accurately produce such a comparison, a major difficulty has been a
unifying metric that accounts for experimental limitations such as the amount
of noise, the number of neural recording sites, and the number trials, and
computational limitations such as the complexity of the decoding classifier and
the number of classifier training examples. In this work we perform a direct
comparison that corrects for these experimental limitations and computational
considerations. As part of our methodology, we propose an extension of "kernel
analysis" that measures the generalization accuracy as a function of
representational complexity. Our evaluations show that, unlike previous
bio-inspired models, the latest DNNs rival the representational performance of
IT cortex on this visual object recognition task. Furthermore, we show that
models that perform well on measures of representational performance also
perform well on measures of representational similarity to IT and on measures
of predicting individual IT multi-unit responses. Whether these DNNs rely on
computational mechanisms similar to the primate visual system is yet to be
determined, but, unlike all previous bio-inspired models, that possibility
cannot be ruled out merely on representational performance grounds.Comment: 35 pages, 12 figures, extends and expands upon arXiv:1301.353
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