Spatio-temporal learning with the online finite and infinite echo-state Gaussian processes

Successful biological systems adapt to change. In this paper, we are principally concerned with adaptive systems that operate in environments where data arrives sequentially and is multivariate in nature, for example, sensory streams in robotic systems. We contribute two reservoir inspired methods: 1) the online echostate Gaussian process (OESGP) and 2) its infinite variant, the online infinite echostate Gaussian process (OIESGP) Both algorithms are iterative fixed-budget methods that learn from noisy time series. In particular, the OESGP combines the echo-state network with Bayesian online learning for Gaussian processes. Extending this to infinite reservoirs yields the OIESGP, which uses a novel recursive kernel with automatic relevance determination that enables spatial and temporal feature weighting. When fused with stochastic natural gradient descent, the kernel hyperparameters are iteratively adapted to better model the target system. Furthermore, insights into the underlying system can be gleamed from inspection of the resulting hyperparameters. Experiments on noisy benchmark problems (one-step prediction and system identification) demonstrate that our methods yield high accuracies relative to state-of-the-art methods, and standard kernels with sliding windows, particularly on problems with irrelevant dimensions. In addition, we describe two case studies in robotic learning-by-demonstration involving the Nao humanoid robot and the Assistive Robot Transport for Youngsters (ARTY) smart wheelchair

Adaptive sampling by information maximization

The investigation of input-output systems often requires a sophisticated choice of test inputs to make best use of limited experimental time. Here we present an iterative algorithm that continuously adjusts an ensemble of test inputs online, subject to the data already acquired about the system under study. The algorithm focuses the input ensemble by maximizing the mutual information between input and output. We apply the algorithm to simulated neurophysiological experiments and show that it serves to extract the ensemble of stimuli that a given neural system ``expects'' as a result of its natural history.Comment: 4 pages, 2 figure

Exploring Privacy Preservation in Outsourced K-Nearest Neighbors with Multiple Data Owners

The k-nearest neighbors (k-NN) algorithm is a popular and effective classification algorithm. Due to its large storage and computational requirements, it is suitable for cloud outsourcing. However, k-NN is often run on sensitive data such as medical records, user images, or personal information. It is important to protect the privacy of data in an outsourced k-NN system. Prior works have all assumed the data owners (who submit data to the outsourced k-NN system) are a single trusted party. However, we observe that in many practical scenarios, there may be multiple mutually distrusting data owners. In this work, we present the first framing and exploration of privacy preservation in an outsourced k-NN system with multiple data owners. We consider the various threat models introduced by this modification. We discover that under a particularly practical threat model that covers numerous scenarios, there exists a set of adaptive attacks that breach the data privacy of any exact k-NN system. The vulnerability is a result of the mathematical properties of k-NN and its output. Thus, we propose a privacy-preserving alternative system supporting kernel density estimation using a Gaussian kernel, a classification algorithm from the same family as k-NN. In many applications, this similar algorithm serves as a good substitute for k-NN. We additionally investigate solutions for other threat models, often through extensions on prior single data owner systems

An Adaptive Locally Connected Neuron Model: Focusing Neuron

This paper presents a new artificial neuron model capable of learning its receptive field in the topological domain of inputs. The model provides adaptive and differentiable local connectivity (plasticity) applicable to any domain. It requires no other tool than the backpropagation algorithm to learn its parameters which control the receptive field locations and apertures. This research explores whether this ability makes the neuron focus on informative inputs and yields any advantage over fully connected neurons. The experiments include tests of focusing neuron networks of one or two hidden layers on synthetic and well-known image recognition data sets. The results demonstrated that the focusing neurons can move their receptive fields towards more informative inputs. In the simple two-hidden layer networks, the focusing layers outperformed the dense layers in the classification of the 2D spatial data sets. Moreover, the focusing networks performed better than the dense networks even when 70$\%$ of the weights were pruned. The tests on convolutional networks revealed that using focusing layers instead of dense layers for the classification of convolutional features may work better in some data sets.Comment: 45 pages, a national patent filed, submitted to Turkish Patent Office, No: -2017/17601, Date: 09.11.201

Bayesian Optimisation for Safe Navigation under Localisation Uncertainty

In outdoor environments, mobile robots are required to navigate through terrain with varying characteristics, some of which might significantly affect the integrity of the platform. Ideally, the robot should be able to identify areas that are safe for navigation based on its own percepts about the environment while avoiding damage to itself. Bayesian optimisation (BO) has been successfully applied to the task of learning a model of terrain traversability while guiding the robot through more traversable areas. An issue, however, is that localisation uncertainty can end up guiding the robot to unsafe areas and distort the model being learnt. In this paper, we address this problem and present a novel method that allows BO to consider localisation uncertainty by applying a Gaussian process model for uncertain inputs as a prior. We evaluate the proposed method in simulation and in experiments with a real robot navigating over rough terrain and compare it against standard BO methods.Comment: To appear in the proceedings of the 18th International Symposium on Robotics Research (ISRR 2017