3,592 research outputs found
Scalable Kernel Methods via Doubly Stochastic Gradients
The general perception is that kernel methods are not scalable, and neural
nets are the methods of choice for nonlinear learning problems. Or have we
simply not tried hard enough for kernel methods? Here we propose an approach
that scales up kernel methods using a novel concept called "doubly stochastic
functional gradients". Our approach relies on the fact that many kernel methods
can be expressed as convex optimization problems, and we solve the problems by
making two unbiased stochastic approximations to the functional gradient, one
using random training points and another using random functions associated with
the kernel, and then descending using this noisy functional gradient. We show
that a function produced by this procedure after iterations converges to
the optimal function in the reproducing kernel Hilbert space in rate ,
and achieves a generalization performance of . This doubly
stochasticity also allows us to avoid keeping the support vectors and to
implement the algorithm in a small memory footprint, which is linear in number
of iterations and independent of data dimension. Our approach can readily scale
kernel methods up to the regimes which are dominated by neural nets. We show
that our method can achieve competitive performance to neural nets in datasets
such as 8 million handwritten digits from MNIST, 2.3 million energy materials
from MolecularSpace, and 1 million photos from ImageNet.Comment: 32 pages, 22 figure
Online Robot Introspection via Wrench-based Action Grammars
Robotic failure is all too common in unstructured robot tasks. Despite
well-designed controllers, robots often fail due to unexpected events. How do
robots measure unexpected events? Many do not. Most robots are driven by the
sense-plan act paradigm, however more recently robots are undergoing a
sense-plan-act-verify paradigm. In this work, we present a principled
methodology to bootstrap online robot introspection for contact tasks. In
effect, we are trying to enable the robot to answer the question: what did I
do? Is my behavior as expected or not? To this end, we analyze noisy wrench
data and postulate that the latter inherently contains patterns that can be
effectively represented by a vocabulary. The vocabulary is generated by
segmenting and encoding the data. When the wrench information represents a
sequence of sub-tasks, we can think of the vocabulary forming a sentence (set
of words with grammar rules) for a given sub-task; allowing the latter to be
uniquely represented. The grammar, which can also include unexpected events,
was classified in offline and online scenarios as well as for simulated and
real robot experiments. Multiclass Support Vector Machines (SVMs) were used
offline, while online probabilistic SVMs were are used to give temporal
confidence to the introspection result. The contribution of our work is the
presentation of a generalizable online semantic scheme that enables a robot to
understand its high-level state whether nominal or abnormal. It is shown to
work in offline and online scenarios for a particularly challenging contact
task: snap assemblies. We perform the snap assembly in one-arm simulated and
real one-arm experiments and a simulated two-arm experiment. This verification
mechanism can be used by high-level planners or reasoning systems to enable
intelligent failure recovery or determine the next most optima manipulation
skill to be used.Comment: arXiv admin note: substantial text overlap with arXiv:1609.0494
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