11 research outputs found
Sample efficiency, transfer learning and interpretability for deep reinforcement learning
Deep learning has revolutionised artificial intelligence, where the application of increased compute to train neural networks on large datasets has resulted in improvements in real-world applications such as object detection, text-to-speech synthesis and machine translation. Deep reinforcement learning (DRL) has similarly shown impressive results in board and video games, but less so in real-world applications such as robotic control. To address this, I have investigated three factors prohibiting further deployment of DRL: sample efficiency, transfer learning, and interpretability. To decrease the amount of data needed to train DRL systems, I have explored various storage strategies and exploration policies for episodic control (EC) algorithms, resulting in the application of online clustering to improve the memory efficiency of EC algorithms, and the maximum entropy mellowmax policy for improving the sample efficiency and final performance of the same EC algorithms. To improve performance during transfer learning, I have shown that a multi-headed neural network architecture trained using hierarchical reinforcement learning can retain the benefits of positive transfer between tasks while mitigating the interference effects of negative transfer. I additionally investigated the use of multi-headed architectures to reduce catastrophic forgetting under the continual learning setting. While the use of multiple heads worked well within a simple environment, it was of limited use within a more complex domain, indicating that this strategy does not scale well. Finally, I applied a wide range of quantitative and qualitative techniques to better interpret trained DRL agents. In particular, I compared the effects of training DRL agents both with and without visual domain randomisation (DR), a popular technique to achieve simulation-to-real transfer, providing a series of tests that can be applied before real-world deployment. One of the major findings is that DR produces more entangled representations within trained DRL agents, indicating quantitatively that they are invariant to nuisance factors associated with the DR process. Additionally, while my environment allowed agents trained without DR to succeed without requiring complex recurrent processing, all agents trained with DR appear to integrate information over time, as evidenced through ablations on the recurrent state.Open Acces
Computational and Numerical Simulations
Computational and Numerical Simulations is an edited book including 20 chapters. Book handles the recent research devoted to numerical simulations of physical and engineering systems. It presents both new theories and their applications, showing bridge between theoretical investigations and possibility to apply them by engineers of different branches of science. Numerical simulations play a key role in both theoretical and application oriented research
The 1988 Goddard Conference on Space Applications of Artificial Intelligence
This publication comprises the papers presented at the 1988 Goddard Conference on Space Applications of Artificial Intelligence held at the NASA/Goddard Space Flight Center, Greenbelt, Maryland on May 24, 1988. The purpose of this annual conference is to provide a forum in which current research and development directed at space applications of artificial intelligence can be presented and discussed. The papers in these proceedings fall into the following areas: mission operations support, planning and scheduling; fault isolation/diagnosis; image processing and machine vision; data management; modeling and simulation; and development tools/methodologies
Machine Learning
Machine Learning can be defined in various ways related to a scientific domain concerned with the design and development of theoretical and implementation tools that allow building systems with some Human Like intelligent behavior. Machine learning addresses more specifically the ability to improve automatically through experience
Graphonomics and your Brain on Art, Creativity and Innovation : Proceedings of the 19th International Graphonomics Conference (IGS 2019 – Your Brain on Art)
[Italiano]: “Grafonomia e cervello su arte, creatività e innovazione”.
Un forum internazionale per discutere sui recenti progressi nell'interazione tra arti creative, neuroscienze, ingegneria, comunicazione, tecnologia, industria, istruzione, design, applicazioni forensi e mediche. I contributi hanno esaminato lo stato dell'arte, identificando sfide e opportunità , e hanno delineato le possibili linee di sviluppo di questo settore di ricerca. I temi affrontati includono: strategie integrate per la comprensione dei sistemi neurali, affettivi e cognitivi in ambienti realistici e complessi; individualità e differenziazione dal punto di vista neurale e comportamentale; neuroaesthetics (uso delle neuroscienze per spiegare e comprendere le esperienze estetiche a livello neurologico); creatività e innovazione; neuro-ingegneria e arte ispirata dal cervello, creatività e uso di dispositivi di mobile brain-body imaging (MoBI) indossabili; terapia basata su arte creativa; apprendimento informale; formazione; applicazioni forensi. / [English]: “Graphonomics and your brain on art, creativity and innovation”.
A single track, international forum for discussion on recent advances at the intersection of the creative arts, neuroscience, engineering, media, technology, industry, education, design, forensics, and medicine.
The contributions reviewed the state of the art, identified challenges and opportunities and created a roadmap for the field of graphonomics and your brain on art.
The topics addressed include: integrative strategies for understanding neural, affective and cognitive systems in realistic, complex environments; neural and behavioral individuality and variation; neuroaesthetics (the use of neuroscience to explain and understand the aesthetic experiences at the neurological level); creativity and innovation; neuroengineering and brain-inspired art, creative concepts and wearable mobile brain-body imaging (MoBI) designs; creative art therapy; informal learning; education; forensics
On Practical machine Learning and Data Analysis
This thesis discusses and addresses some of the difficulties
associated with practical machine learning and data
analysis. Introducing data driven methods in e.g industrial and
business applications can lead to large gains in productivity and
efficiency, but the cost and complexity are often
overwhelming. Creating machine learning applications in practise often
involves a large amount of manual labour, which often needs to be
performed by an experienced analyst without significant experience
with the application area. We will here discuss some of the hurdles
faced in a typical analysis project and suggest measures and methods
to simplify the process.
One of the most important issues when applying machine learning
methods to complex data, such as e.g. industrial applications, is that
the processes generating the data are modelled in an appropriate
way. Relevant aspects have to be formalised and represented in a way
that allow us to perform our calculations in an efficient manner. We
present a statistical modelling framework, Hierarchical Graph
Mixtures, based on a combination of graphical models and mixture
models. It allows us to create consistent, expressive statistical
models that simplify the modelling of complex systems. Using a
Bayesian approach, we allow for encoding of prior knowledge and make
the models applicable in situations when relatively little data are
available.
Detecting structures in data, such as clusters and dependency
structure, is very important both for understanding an application
area and for specifying the structure of e.g. a hierarchical graph
mixture. We will discuss how this structure can be extracted for
sequential data. By using the inherent dependency structure of
sequential data we construct an information theoretical measure of
correlation that does not suffer from the problems most common
correlation measures have with this type of data.
In many diagnosis situations it is desirable to perform a
classification in an iterative and interactive manner. The matter is
often complicated by very limited amounts of knowledge and examples
when a new system to be diagnosed is initially brought into use. We
describe how to create an incremental classification system based on a
statistical model that is trained from empirical data, and show how
the limited available background information can still be used
initially for a functioning diagnosis system.
To minimise the effort with which results are achieved within data
analysis projects, we need to address not only the models used, but
also the methodology and applications that can help simplify the
process. We present a methodology for data preparation and a software
library intended for rapid analysis, prototyping, and deployment.
Finally, we will study a few example applications, presenting tasks
within classification, prediction and anomaly detection. The examples
include demand prediction for supply chain management, approximating
complex simulators for increased speed in parameter optimisation, and
fraud detection and classification within a media-on-demand system
Space station systems: A bibliography with indexes (supplement 9)
This bibliography lists 1,313 reports, articles, and other documents introduced into the NASA scientific and technical information system between January 1, 1989 and June 30, 1989. Its purpose is to provide helpful information to researchers, designers and managers engaged in Space Station technology development and mission design. Coverage includes documents that define major systems and subsystems related to structures and dynamic control, electronics and power supplies, propulsion, and payload integration. In addition, orbital construction methods, servicing and support requirements, procedures and operations, and missions for the current and future Space Station are included