1,574,838 research outputs found
Ask the GRU: Multi-Task Learning for Deep Text Recommendations
In a variety of application domains the content to be recommended to users is
associated with text. This includes research papers, movies with associated
plot summaries, news articles, blog posts, etc. Recommendation approaches based
on latent factor models can be extended naturally to leverage text by employing
an explicit mapping from text to factors. This enables recommendations for new,
unseen content, and may generalize better, since the factors for all items are
produced by a compactly-parametrized model. Previous work has used topic models
or averages of word embeddings for this mapping. In this paper we present a
method leveraging deep recurrent neural networks to encode the text sequence
into a latent vector, specifically gated recurrent units (GRUs) trained
end-to-end on the collaborative filtering task. For the task of scientific
paper recommendation, this yields models with significantly higher accuracy. In
cold-start scenarios, we beat the previous state-of-the-art, all of which
ignore word order. Performance is further improved by multi-task learning,
where the text encoder network is trained for a combination of content
recommendation and item metadata prediction. This regularizes the collaborative
filtering model, ameliorating the problem of sparsity of the observed rating
matrix.Comment: 8 page
Real-Time Planning with Multi-Fidelity Models for Agile Flights in Unknown Environments
Autonomous navigation through unknown environments is a challenging task that
entails real-time localization, perception, planning, and control. UAVs with
this capability have begun to emerge in the literature with advances in
lightweight sensing and computing. Although the planning methodologies vary
from platform to platform, many algorithms adopt a hierarchical planning
architecture where a slow, low-fidelity global planner guides a fast,
high-fidelity local planner. However, in unknown environments, this approach
can lead to erratic or unstable behavior due to the interaction between the
global planner, whose solution is changing constantly, and the local planner; a
consequence of not capturing higher-order dynamics in the global plan. This
work proposes a planning framework in which multi-fidelity models are used to
reduce the discrepancy between the local and global planner. Our approach uses
high-, medium-, and low-fidelity models to compose a path that captures
higher-order dynamics while remaining computationally tractable. In addition,
we address the interaction between a fast planner and a slower mapper by
considering the sensor data not yet fused into the map during the collision
check. This novel mapping and planning framework for agile flights is validated
in simulation and hardware experiments, showing replanning times of 5-40 ms in
cluttered environments.Comment: ICRA 201
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