3,965 research outputs found
A group-theoretic approach to formalizing bootstrapping problems
The bootstrapping problem consists in designing agents that learn a model of themselves and the world, and utilize it to achieve useful tasks. It is different from other learning problems as the agent starts with uninterpreted observations and commands, and with minimal prior information about the world. In this paper, we give a mathematical formalization of this aspect of the problem. We argue that the vague constraint of having "no prior information" can be recast as a precise algebraic condition on the agent: that its behavior is invariant to particular classes of nuisances on the world, which we show can be well represented by actions of groups (diffeomorphisms, permutations, linear transformations) on observations and commands. We then introduce the class of bilinear gradient dynamics sensors (BGDS) as a candidate for learning generic robotic sensorimotor cascades. We show how framing the problem as rejection of group nuisances allows a compact and modular analysis of typical preprocessing stages, such as learning the topology of the sensors. We demonstrate learning and using such models on real-world range-finder and camera data from publicly available datasets
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Background suppressing Gabor energy filtering
In the field of facial emotion recognition, early research advanced with the use of Gabor filters. However, these filters lack generalization and result in undesirably large feature vector size. In recent work, more attention has been given to other local appearance features. Two desired characteristics in a facial appearance feature are generalization capability, and the compactness of representation. In this paper, we propose a novel texture feature inspired by Gabor energy filters, called background suppressing Gabor energy filtering. The feature has a generalization component that removes background texture. It has a reduced feature vector size due to maximal representation and soft orientation histograms, and it is awhite box representation. We demonstrate improved performance on the non-trivial Audio/Visual Emotion Challenge 2012 grand-challenge dataset by a factor of 7.17 over the Gabor filter on the development set. We also demonstrate applicability of our approach beyond facial emotion recognition which yields improved classification rate over the Gabor filter for four bioimaging datasets by an average of 8.22%
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