Decentralized learning with budgeted network load using Gaussian copulas and classifier ensembles

We examine a network of learners which address the same classification task but must learn from different data sets. The learners cannot share data but instead share their models. Models are shared only one time so as to preserve the network load. We introduce DELCO (standing for Decentralized Ensemble Learning with COpulas), a new approach allowing to aggregate the predictions of the classifiers trained by each learner. The proposed method aggregates the base classifiers using a probabilistic model relying on Gaussian copulas. Experiments on logistic regressor ensembles demonstrate competing accuracy and increased robustness in case of dependent classifiers. A companion python implementation can be downloaded at https://github.com/john-klein/DELC

Recognising the Clothing Categories from Free-Configuration Using Gaussian-Process-Based Interactive Perception

In this paper, we propose a Gaussian Process- based interactive perception approach for recognising highly- wrinkled clothes. We have integrated this recognition method within a clothes sorting pipeline for the pre-washing stage of an autonomous laundering process. Our approach differs from reported clothing manipulation approaches by allowing the robot to update its perception confidence via numerous interactions with the garments. The classifiers predominantly reported in clothing perception (e.g. SVM, Random Forest) studies do not provide true classification probabilities, due to their inherent structure. In contrast, probabilistic classifiers (of which the Gaussian Process is a popular example) are able to provide predictive probabilities. In our approach, we employ a multi-class Gaussian Process classification using the Laplace approximation for posterior inference and optimising hyper-parameters via marginal likelihood maximisation. Our experimental results show that our approach is able to recognise unknown garments from highly-occluded and wrinkled con- figurations and demonstrates a substantial improvement over non-interactive perception approaches