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

A machine learning approach for fighting the curse of dimensionality in global optimization

Finding global optima in high-dimensional optimization problems is extremely challenging since the number of function evaluations required to sufficiently explore the search space increases exponentially with its dimensionality. Furthermore, multimodal cost functions render local gradient-based search techniques ineffective. To overcome these difficulties, we propose to trim uninteresting regions of the search space where global optima are unlikely to be found by means of autoencoders, exploiting the lower intrinsic dimensionality of certain cost functions; optima are then searched over lower-dimensional latent spaces. The methodology is tested on benchmark functions and on multiple variations of a structural topology optimization problem, where we show that we can estimate this intrinsic lower dimensionality and based thereon obtain the global optimum at best or superior results compared to established optimization procedures at worst.Comment: Main text 36 pages, 6 figures, currently submitted to science advance

Semisupervised Autoencoder for Sentiment Analysis

In this paper, we investigate the usage of autoencoders in modeling textual data. Traditional autoencoders suffer from at least two aspects: scalability with the high dimensionality of vocabulary size and dealing with task-irrelevant words. We address this problem by introducing supervision via the loss function of autoencoders. In particular, we first train a linear classifier on the labeled data, then define a loss for the autoencoder with the weights learned from the linear classifier. To reduce the bias brought by one single classifier, we define a posterior probability distribution on the weights of the classifier, and derive the marginalized loss of the autoencoder with Laplace approximation. We show that our choice of loss function can be rationalized from the perspective of Bregman Divergence, which justifies the soundness of our model. We evaluate the effectiveness of our model on six sentiment analysis datasets, and show that our model significantly outperforms all the competing methods with respect to classification accuracy. We also show that our model is able to take advantage of unlabeled dataset and get improved performance. We further show that our model successfully learns highly discriminative feature maps, which explains its superior performance.Comment: To appear in AAAI 201

Using Photorealistic Face Synthesis and Domain Adaptation to Improve Facial Expression Analysis

Cross-domain synthesizing realistic faces to learn deep models has attracted increasing attention for facial expression analysis as it helps to improve the performance of expression recognition accuracy despite having small number of real training images. However, learning from synthetic face images can be problematic due to the distribution discrepancy between low-quality synthetic images and real face images and may not achieve the desired performance when the learned model applies to real world scenarios. To this end, we propose a new attribute guided face image synthesis to perform a translation between multiple image domains using a single model. In addition, we adopt the proposed model to learn from synthetic faces by matching the feature distributions between different domains while preserving each domain's characteristics. We evaluate the effectiveness of the proposed approach on several face datasets on generating realistic face images. We demonstrate that the expression recognition performance can be enhanced by benefiting from our face synthesis model. Moreover, we also conduct experiments on a near-infrared dataset containing facial expression videos of drivers to assess the performance using in-the-wild data for driver emotion recognition.Comment: 8 pages, 8 figures, 5 tables, accepted by FG 2019. arXiv admin note: substantial text overlap with arXiv:1905.0028