4,125 research outputs found
Distributed Gaussian Processes
To scale Gaussian processes (GPs) to large data sets we introduce the robust
Bayesian Committee Machine (rBCM), a practical and scalable product-of-experts
model for large-scale distributed GP regression. Unlike state-of-the-art sparse
GP approximations, the rBCM is conceptually simple and does not rely on
inducing or variational parameters. The key idea is to recursively distribute
computations to independent computational units and, subsequently, recombine
them to form an overall result. Efficient closed-form inference allows for
straightforward parallelisation and distributed computations with a small
memory footprint. The rBCM is independent of the computational graph and can be
used on heterogeneous computing infrastructures, ranging from laptops to
clusters. With sufficient computing resources our distributed GP model can
handle arbitrarily large data sets.Comment: 10 pages, 5 figures. Appears in Proceedings of ICML 201
Approximate Nearest Neighbor Fields in Video
We introduce RIANN (Ring Intersection Approximate Nearest Neighbor search),
an algorithm for matching patches of a video to a set of reference patches in
real-time. For each query, RIANN finds potential matches by intersecting rings
around key points in appearance space. Its search complexity is reversely
correlated to the amount of temporal change, making it a good fit for videos,
where typically most patches change slowly with time. Experiments show that
RIANN is up to two orders of magnitude faster than previous ANN methods, and is
the only solution that operates in real-time. We further demonstrate how RIANN
can be used for real-time video processing and provide examples for a range of
real-time video applications, including colorization, denoising, and several
artistic effects.Comment: A CVPR 2015 oral pape
Joint Regression and Ranking for Image Enhancement
Research on automated image enhancement has gained momentum in recent years,
partially due to the need for easy-to-use tools for enhancing pictures captured
by ubiquitous cameras on mobile devices. Many of the existing leading methods
employ machine-learning-based techniques, by which some enhancement parameters
for a given image are found by relating the image to the training images with
known enhancement parameters. While knowing the structure of the parameter
space can facilitate search for the optimal solution, none of the existing
methods has explicitly modeled and learned that structure. This paper presents
an end-to-end, novel joint regression and ranking approach to model the
interaction between desired enhancement parameters and images to be processed,
employing a Gaussian process (GP). GP allows searching for ideal parameters
using only the image features. The model naturally leads to a ranking technique
for comparing images in the induced feature space. Comparative evaluation using
the ground-truth based on the MIT-Adobe FiveK dataset plus subjective tests on
an additional data-set were used to demonstrate the effectiveness of the
proposed approach.Comment: WACV 201
Reset-free Trial-and-Error Learning for Robot Damage Recovery
The high probability of hardware failures prevents many advanced robots
(e.g., legged robots) from being confidently deployed in real-world situations
(e.g., post-disaster rescue). Instead of attempting to diagnose the failures,
robots could adapt by trial-and-error in order to be able to complete their
tasks. In this situation, damage recovery can be seen as a Reinforcement
Learning (RL) problem. However, the best RL algorithms for robotics require the
robot and the environment to be reset to an initial state after each episode,
that is, the robot is not learning autonomously. In addition, most of the RL
methods for robotics do not scale well with complex robots (e.g., walking
robots) and either cannot be used at all or take too long to converge to a
solution (e.g., hours of learning). In this paper, we introduce a novel
learning algorithm called "Reset-free Trial-and-Error" (RTE) that (1) breaks
the complexity by pre-generating hundreds of possible behaviors with a dynamics
simulator of the intact robot, and (2) allows complex robots to quickly recover
from damage while completing their tasks and taking the environment into
account. We evaluate our algorithm on a simulated wheeled robot, a simulated
six-legged robot, and a real six-legged walking robot that are damaged in
several ways (e.g., a missing leg, a shortened leg, faulty motor, etc.) and
whose objective is to reach a sequence of targets in an arena. Our experiments
show that the robots can recover most of their locomotion abilities in an
environment with obstacles, and without any human intervention.Comment: 18 pages, 16 figures, 3 tables, 6 pseudocodes/algorithms, video at
https://youtu.be/IqtyHFrb3BU, code at
https://github.com/resibots/chatzilygeroudis_2018_rt
Analysis of approximate nearest neighbor searching with clustered point sets
We present an empirical analysis of data structures for approximate nearest
neighbor searching. We compare the well-known optimized kd-tree splitting
method against two alternative splitting methods. The first, called the
sliding-midpoint method, which attempts to balance the goals of producing
subdivision cells of bounded aspect ratio, while not producing any empty cells.
The second, called the minimum-ambiguity method is a query-based approach. In
addition to the data points, it is also given a training set of query points
for preprocessing. It employs a simple greedy algorithm to select the splitting
plane that minimizes the average amount of ambiguity in the choice of the
nearest neighbor for the training points. We provide an empirical analysis
comparing these two methods against the optimized kd-tree construction for a
number of synthetically generated data and query sets. We demonstrate that for
clustered data and query sets, these algorithms can provide significant
improvements over the standard kd-tree construction for approximate nearest
neighbor searching.Comment: 20 pages, 8 figures. Presented at ALENEX '99, Baltimore, MD, Jan
15-16, 199
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