Developmental Robots - A New Paradigm

It has been proved to be extremely challenging for humans to program a robot to such a sufficient degree that it acts properly in a typical unknown human environment. This is especially true for a humanoid robot due to the very large number of redundant degrees of freedom and a large number of sensors that are required for a humanoid to work safely and effectively in the human environment. How can we address this fundamental problem? Motivated by human mental development from infancy to adulthood, we present a theory, an architecture, and some experimental results showing how to enable a robot to develop its mind automatically, through online, real time interactions with its environment. Humans mentally “raise” the robot through “robot sitting” and “robot schools” instead of task-specific robot programming

Adaptive Online Sequential ELM for Concept Drift Tackling

A machine learning method needs to adapt to over time changes in the environment. Such changes are known as concept drift. In this paper, we propose concept drift tackling method as an enhancement of Online Sequential Extreme Learning Machine (OS-ELM) and Constructive Enhancement OS-ELM (CEOS-ELM) by adding adaptive capability for classification and regression problem. The scheme is named as adaptive OS-ELM (AOS-ELM). It is a single classifier scheme that works well to handle real drift, virtual drift, and hybrid drift. The AOS-ELM also works well for sudden drift and recurrent context change type. The scheme is a simple unified method implemented in simple lines of code. We evaluated AOS-ELM on regression and classification problem by using concept drift public data set (SEA and STAGGER) and other public data sets such as MNIST, USPS, and IDS. Experiments show that our method gives higher kappa value compared to the multiclassifier ELM ensemble. Even though AOS-ELM in practice does not need hidden nodes increase, we address some issues related to the increasing of the hidden nodes such as error condition and rank values. We propose taking the rank of the pseudoinverse matrix as an indicator parameter to detect underfitting condition.Comment: Hindawi Publishing. Computational Intelligence and Neuroscience Volume 2016 (2016), Article ID 8091267, 17 pages Received 29 January 2016, Accepted 17 May 2016. Special Issue on "Advances in Neural Networks and Hybrid-Metaheuristics: Theory, Algorithms, and Novel Engineering Applications". Academic Editor: Stefan Hauf

Incremental sharing using machine learning

Generally, the present disclosure is directed to incrementally sharing resources, e.g., documents, media, etc., using machine-learned models. In particular, in some implementations, when the user provides permission to access user data, the systems and methods of the present disclosure can include or otherwise leverage one or more machine-learned models to suggest files on a device or in the cloud that a user can share based on documents or other media that the user has already shown intent to share. Machine learning is used to determine resources, e.g., documents, media, links, etc., that have features with correlation with the resource the user has expressed an intent to share. Such documents, media, links, etc. are suggested to the user as additionally shareable resources. When the user provides consent to utilize data indicative of usage context, such context, e.g., the breadth of share (public, private, specific individual, etc.), device state, context of sharing, etc. may be used as inputs to the machine learning model to determine sharing suggestions

Stacking-Based Deep Neural Network: Deep Analytic Network for Pattern Classification

Stacking-based deep neural network (S-DNN) is aggregated with pluralities of basic learning modules, one after another, to synthesize a deep neural network (DNN) alternative for pattern classification. Contrary to the DNNs trained end to end by backpropagation (BP), each S-DNN layer, i.e., a self-learnable module, is to be trained decisively and independently without BP intervention. In this paper, a ridge regression-based S-DNN, dubbed deep analytic network (DAN), along with its kernelization (K-DAN), are devised for multilayer feature re-learning from the pre-extracted baseline features and the structured features. Our theoretical formulation demonstrates that DAN/K-DAN re-learn by perturbing the intra/inter-class variations, apart from diminishing the prediction errors. We scrutinize the DAN/K-DAN performance for pattern classification on datasets of varying domains - faces, handwritten digits, generic objects, to name a few. Unlike the typical BP-optimized DNNs to be trained from gigantic datasets by GPU, we disclose that DAN/K-DAN are trainable using only CPU even for small-scale training sets. Our experimental results disclose that DAN/K-DAN outperform the present S-DNNs and also the BP-trained DNNs, including multiplayer perceptron, deep belief network, etc., without data augmentation applied.Comment: 14 pages, 7 figures, 11 table