1,590 research outputs found
Deep Neuroevolution of Recurrent and Discrete World Models
Neural architectures inspired by our own human cognitive system, such as the
recently introduced world models, have been shown to outperform traditional
deep reinforcement learning (RL) methods in a variety of different domains.
Instead of the relatively simple architectures employed in most RL experiments,
world models rely on multiple different neural components that are responsible
for visual information processing, memory, and decision-making. However, so far
the components of these models have to be trained separately and through a
variety of specialized training methods. This paper demonstrates the surprising
finding that models with the same precise parts can be instead efficiently
trained end-to-end through a genetic algorithm (GA), reaching a comparable
performance to the original world model by solving a challenging car racing
task. An analysis of the evolved visual and memory system indicates that they
include a similar effective representation to the system trained through
gradient descent. Additionally, in contrast to gradient descent methods that
struggle with discrete variables, GAs also work directly with such
representations, opening up opportunities for classical planning in latent
space. This paper adds additional evidence on the effectiveness of deep
neuroevolution for tasks that require the intricate orchestration of multiple
components in complex heterogeneous architectures
Hierarchical Deep Learning Architecture For 10K Objects Classification
Evolution of visual object recognition architectures based on Convolutional
Neural Networks & Convolutional Deep Belief Networks paradigms has
revolutionized artificial Vision Science. These architectures extract & learn
the real world hierarchical visual features utilizing supervised & unsupervised
learning approaches respectively. Both the approaches yet cannot scale up
realistically to provide recognition for a very large number of objects as high
as 10K. We propose a two level hierarchical deep learning architecture inspired
by divide & conquer principle that decomposes the large scale recognition
architecture into root & leaf level model architectures. Each of the root &
leaf level models is trained exclusively to provide superior results than
possible by any 1-level deep learning architecture prevalent today. The
proposed architecture classifies objects in two steps. In the first step the
root level model classifies the object in a high level category. In the second
step, the leaf level recognition model for the recognized high level category
is selected among all the leaf models. This leaf level model is presented with
the same input object image which classifies it in a specific category. Also we
propose a blend of leaf level models trained with either supervised or
unsupervised learning approaches. Unsupervised learning is suitable whenever
labelled data is scarce for the specific leaf level models. Currently the
training of leaf level models is in progress; where we have trained 25 out of
the total 47 leaf level models as of now. We have trained the leaf models with
the best case top-5 error rate of 3.2% on the validation data set for the
particular leaf models. Also we demonstrate that the validation error of the
leaf level models saturates towards the above mentioned accuracy as the number
of epochs are increased to more than sixty.Comment: As appeared in proceedings for CS & IT 2015 - Second International
Conference on Computer Science & Engineering (CSEN 2015
A statistical learning based approach for parameter fine-tuning of metaheuristics
Metaheuristics are approximation methods used to solve combinatorial optimization problems. Their performance usually depends on a set of parameters that need to be adjusted. The selection of appropriate parameter values causes a loss of efficiency, as it requires time, and advanced analytical and problem-specific skills. This paper provides an overview of the principal approaches to tackle the Parameter Setting Problem, focusing on the statistical procedures employed so far by the scientific community. In addition, a novel methodology is proposed, which is tested using an already existing algorithm for solving the Multi-Depot Vehicle Routing Problem.Peer ReviewedPostprint (published version
Automatic Document Image Binarization using Bayesian Optimization
Document image binarization is often a challenging task due to various forms
of degradation. Although there exist several binarization techniques in
literature, the binarized image is typically sensitive to control parameter
settings of the employed technique. This paper presents an automatic document
image binarization algorithm to segment the text from heavily degraded document
images. The proposed technique uses a two band-pass filtering approach for
background noise removal, and Bayesian optimization for automatic
hyperparameter selection for optimal results. The effectiveness of the proposed
binarization technique is empirically demonstrated on the Document Image
Binarization Competition (DIBCO) and the Handwritten Document Image
Binarization Competition (H-DIBCO) datasets
Efficient Benchmarking of Algorithm Configuration Procedures via Model-Based Surrogates
The optimization of algorithm (hyper-)parameters is crucial for achieving
peak performance across a wide range of domains, ranging from deep neural
networks to solvers for hard combinatorial problems. The resulting algorithm
configuration (AC) problem has attracted much attention from the machine
learning community. However, the proper evaluation of new AC procedures is
hindered by two key hurdles. First, AC benchmarks are hard to set up. Second
and even more significantly, they are computationally expensive: a single run
of an AC procedure involves many costly runs of the target algorithm whose
performance is to be optimized in a given AC benchmark scenario. One common
workaround is to optimize cheap-to-evaluate artificial benchmark functions
(e.g., Branin) instead of actual algorithms; however, these have different
properties than realistic AC problems. Here, we propose an alternative
benchmarking approach that is similarly cheap to evaluate but much closer to
the original AC problem: replacing expensive benchmarks by surrogate benchmarks
constructed from AC benchmarks. These surrogate benchmarks approximate the
response surface corresponding to true target algorithm performance using a
regression model, and the original and surrogate benchmark share the same
(hyper-)parameter space. In our experiments, we construct and evaluate
surrogate benchmarks for hyperparameter optimization as well as for AC problems
that involve performance optimization of solvers for hard combinatorial
problems, drawing training data from the runs of existing AC procedures. We
show that our surrogate benchmarks capture overall important characteristics of
the AC scenarios, such as high- and low-performing regions, from which they
were derived, while being much easier to use and orders of magnitude cheaper to
evaluate
Champion-level drone racing using deep reinforcement learning
First-person view (FPV) drone racing is a televised sport in which professional competitors pilot high-speed aircraft through a 3D circuit. Each pilot sees the environment from the perspective of their drone by means of video streamed from an onboard camera. Reaching the level of professional pilots with an autonomous drone is challenging because the robot needs to fly at its physical limits while estimating its speed and location in the circuit exclusively from onboard sensors. Here we introduce Swift, an autonomous system that can race physical vehicles at the level of the human world champions. The system combines deep reinforcement learning (RL) in simulation with data collected in the physical world. Swift competed against three human champions, including the world champions of two international leagues, in real-world head-to-head races. Swift won several races against each of the human champions and demonstrated the fastest recorded race time. This work represents a milestone for mobile robotics and machine intelligence, which may inspire the deployment of hybrid learning-based solutions in other physical systems
Fast Cross-Validation via Sequential Testing
With the increasing size of today's data sets, finding the right parameter
configuration in model selection via cross-validation can be an extremely
time-consuming task. In this paper we propose an improved cross-validation
procedure which uses nonparametric testing coupled with sequential analysis to
determine the best parameter set on linearly increasing subsets of the data. By
eliminating underperforming candidates quickly and keeping promising candidates
as long as possible, the method speeds up the computation while preserving the
capability of the full cross-validation. Theoretical considerations underline
the statistical power of our procedure. The experimental evaluation shows that
our method reduces the computation time by a factor of up to 120 compared to a
full cross-validation with a negligible impact on the accuracy
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