3,916 research outputs found
Is Deep Learning Safe for Robot Vision? Adversarial Examples against the iCub Humanoid
Deep neural networks have been widely adopted in recent years, exhibiting
impressive performances in several application domains. It has however been
shown that they can be fooled by adversarial examples, i.e., images altered by
a barely-perceivable adversarial noise, carefully crafted to mislead
classification. In this work, we aim to evaluate the extent to which
robot-vision systems embodying deep-learning algorithms are vulnerable to
adversarial examples, and propose a computationally efficient countermeasure to
mitigate this threat, based on rejecting classification of anomalous inputs. We
then provide a clearer understanding of the safety properties of deep networks
through an intuitive empirical analysis, showing that the mapping learned by
such networks essentially violates the smoothness assumption of learning
algorithms. We finally discuss the main limitations of this work, including the
creation of real-world adversarial examples, and sketch promising research
directions.Comment: Accepted for publication at the ICCV 2017 Workshop on Vision in
Practice on Autonomous Robots (ViPAR
On the design of an ECOC-compliant genetic algorithm
Genetic Algorithms (GA) have been previously applied to Error-Correcting Output Codes (ECOC) in state-of-the-art works in order to find a suitable coding matrix. Nevertheless, none of the presented techniques directly take into account the properties of the ECOC matrix. As a result the considered search space is unnecessarily large. In this paper, a novel Genetic strategy to optimize the ECOC coding step is presented. This novel strategy redefines the usual crossover and mutation operators in order to take into account the theoretical properties of the ECOC framework. Thus, it reduces the search space and lets the algorithm to converge faster. In addition, a novel operator that is able to enlarge the code in a smart way is introduced. The novel methodology is tested on several UCI datasets and four challenging computer vision problems. Furthermore, the analysis of the results done in terms of performance, code length and number of Support Vectors shows that the optimization process is able to find very efficient codes, in terms of the trade-off between classification performance and the number of classifiers. Finally, classification performance per dichotomizer results shows that the novel proposal is able to obtain similar or even better results while defining a more compact number of dichotomies and SVs compared to state-of-the-art approaches
Differential geometric regularization for supervised learning of classifiers
We study the problem of supervised learning for both binary and multiclass classification from a unified geometric perspective. In particular, we propose a geometric regularization technique to find the submanifold corresponding to an estimator of the class probability P(y|\vec x). The regularization term measures the volume of this submanifold, based on the intuition that overfitting produces rapid local oscillations and hence large volume of the estimator. This technique can be applied to regularize any classification function that satisfies two requirements: firstly, an estimator of the class probability can be obtained; secondly, first and second derivatives of the class probability estimator can be calculated. In experiments, we apply our regularization technique to standard loss functions for classification, our RBF-based implementation compares favorably to widely used regularization methods for both binary and multiclass classification.http://proceedings.mlr.press/v48/baia16.pdfPublished versio
The ABACOC Algorithm: a Novel Approach for Nonparametric Classification of Data Streams
Stream mining poses unique challenges to machine learning: predictive models
are required to be scalable, incrementally trainable, must remain bounded in
size (even when the data stream is arbitrarily long), and be nonparametric in
order to achieve high accuracy even in complex and dynamic environments.
Moreover, the learning system must be parameterless ---traditional tuning
methods are problematic in streaming settings--- and avoid requiring prior
knowledge of the number of distinct class labels occurring in the stream. In
this paper, we introduce a new algorithmic approach for nonparametric learning
in data streams. Our approach addresses all above mentioned challenges by
learning a model that covers the input space using simple local classifiers.
The distribution of these classifiers dynamically adapts to the local (unknown)
complexity of the classification problem, thus achieving a good balance between
model complexity and predictive accuracy. We design four variants of our
approach of increasing adaptivity. By means of an extensive empirical
evaluation against standard nonparametric baselines, we show state-of-the-art
results in terms of accuracy versus model size. For the variant that imposes a
strict bound on the model size, we show better performance against all other
methods measured at the same model size value. Our empirical analysis is
complemented by a theoretical performance guarantee which does not rely on any
stochastic assumption on the source generating the stream
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