14,193 research outputs found
Theoretical Interpretations and Applications of Radial Basis Function Networks
Medical applications usually used Radial Basis Function Networks just as Artificial Neural Networks. However, RBFNs are Knowledge-Based Networks that can be interpreted in several way: Artificial Neural Networks, Regularization Networks, Support Vector Machines, Wavelet Networks, Fuzzy Controllers, Kernel Estimators, Instanced-Based Learners. A survey of their interpretations and of their corresponding learning algorithms is provided as well as a brief survey on dynamic learning algorithms. RBFNs' interpretations can suggest applications that are particularly interesting in medical domains
CINet: A Learning Based Approach to Incremental Context Modeling in Robots
There have been several attempts at modeling context in robots. However,
either these attempts assume a fixed number of contexts or use a rule-based
approach to determine when to increment the number of contexts. In this paper,
we pose the task of when to increment as a learning problem, which we solve
using a Recurrent Neural Network. We show that the network successfully (with
98\% testing accuracy) learns to predict when to increment, and demonstrate, in
a scene modeling problem (where the correct number of contexts is not known),
that the robot increments the number of contexts in an expected manner (i.e.,
the entropy of the system is reduced). We also present how the incremental
model can be used for various scene reasoning tasks.Comment: The first two authors have contributed equally, 6 pages, 8 figures,
International Conference on Intelligent Robots (IROS 2018
Incrementally Learned Mixture Models for GNSS Localization
GNSS localization is an important part of today's autonomous systems,
although it suffers from non-Gaussian errors caused by non-line-of-sight
effects. Recent methods are able to mitigate these effects by including the
corresponding distributions in the sensor fusion algorithm. However, these
approaches require prior knowledge about the sensor's distribution, which is
often not available. We introduce a novel sensor fusion algorithm based on
variational Bayesian inference, that is able to approximate the true
distribution with a Gaussian mixture model and to learn its parametrization
online. The proposed Incremental Variational Mixture algorithm automatically
adapts the number of mixture components to the complexity of the measurement's
error distribution. We compare the proposed algorithm against current
state-of-the-art approaches using a collection of open access real world
datasets and demonstrate its superior localization accuracy.Comment: 8 pages, 5 figures, published in proceedings of IEEE Intelligent
Vehicles Symposium (IV) 201
Bayesian robot Programming
We propose a new method to program robots based on Bayesian inference and learning. The capacities of this programming method are demonstrated through a succession of increasingly complex experiments. Starting from the learning of simple reactive behaviors, we present instances of behavior combinations, sensor fusion, hierarchical behavior composition, situation recognition and temporal sequencing. This series of experiments comprises the steps in the incremental development of a complex robot program. The advantages and drawbacks of this approach are discussed along with these different experiments and summed up as a conclusion. These different robotics programs may be seen as an illustration of probabilistic programming applicable whenever one must deal with problems based on uncertain or incomplete knowledge. The scope of possible applications is obviously much broader than robotics
Online Causal Structure Learning in the Presence of Latent Variables
We present two online causal structure learning algorithms which can track
changes in a causal structure and process data in a dynamic real-time manner.
Standard causal structure learning algorithms assume that causal structure does
not change during the data collection process, but in real-world scenarios, it
does often change. Therefore, it is inappropriate to handle such changes with
existing batch-learning approaches, and instead, a structure should be learned
in an online manner. The online causal structure learning algorithms we present
here can revise correlation values without reprocessing the entire dataset and
use an existing model to avoid relearning the causal links in the prior model,
which still fit data. Proposed algorithms are tested on synthetic and
real-world datasets, the latter being a seasonally adjusted commodity price
index dataset for the U.S. The online causal structure learning algorithms
outperformed standard FCI by a large margin in learning the changed causal
structure correctly and efficiently when latent variables were present.Comment: 16 pages, 9 figures, 2 table
Psychophysical identity and free energy
An approach to implementing variational Bayesian inference in biological
systems is considered, under which the thermodynamic free energy of a system
directly encodes its variational free energy. In the case of the brain, this
assumption places constraints on the neuronal encoding of generative and
recognition densities, in particular requiring a stochastic population code.
The resulting relationship between thermodynamic and variational free energies
is prefigured in mind-brain identity theses in philosophy and in the Gestalt
hypothesis of psychophysical isomorphism.Comment: 22 pages; published as a research article on 8/5/2020 in Journal of
the Royal Society Interfac
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