2,983 research outputs found
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age
Simultaneous Localization and Mapping (SLAM)consists in the concurrent
construction of a model of the environment (the map), and the estimation of the
state of the robot moving within it. The SLAM community has made astonishing
progress over the last 30 years, enabling large-scale real-world applications,
and witnessing a steady transition of this technology to industry. We survey
the current state of SLAM. We start by presenting what is now the de-facto
standard formulation for SLAM. We then review related work, covering a broad
set of topics including robustness and scalability in long-term mapping, metric
and semantic representations for mapping, theoretical performance guarantees,
active SLAM and exploration, and other new frontiers. This paper simultaneously
serves as a position paper and tutorial to those who are users of SLAM. By
looking at the published research with a critical eye, we delineate open
challenges and new research issues, that still deserve careful scientific
investigation. The paper also contains the authors' take on two questions that
often animate discussions during robotics conferences: Do robots need SLAM? and
Is SLAM solved
Stochastic Training of Neural Networks via Successive Convex Approximations
This paper proposes a new family of algorithms for training neural networks
(NNs). These are based on recent developments in the field of non-convex
optimization, going under the general name of successive convex approximation
(SCA) techniques. The basic idea is to iteratively replace the original
(non-convex, highly dimensional) learning problem with a sequence of (strongly
convex) approximations, which are both accurate and simple to optimize.
Differently from similar ideas (e.g., quasi-Newton algorithms), the
approximations can be constructed using only first-order information of the
neural network function, in a stochastic fashion, while exploiting the overall
structure of the learning problem for a faster convergence. We discuss several
use cases, based on different choices for the loss function (e.g., squared loss
and cross-entropy loss), and for the regularization of the NN's weights. We
experiment on several medium-sized benchmark problems, and on a large-scale
dataset involving simulated physical data. The results show how the algorithm
outperforms state-of-the-art techniques, providing faster convergence to a
better minimum. Additionally, we show how the algorithm can be easily
parallelized over multiple computational units without hindering its
performance. In particular, each computational unit can optimize a tailored
surrogate function defined on a randomly assigned subset of the input
variables, whose dimension can be selected depending entirely on the available
computational power.Comment: Preprint submitted to IEEE Transactions on Neural Networks and
Learning System
Regularized Optimal Transport and the Rot Mover's Distance
This paper presents a unified framework for smooth convex regularization of
discrete optimal transport problems. In this context, the regularized optimal
transport turns out to be equivalent to a matrix nearness problem with respect
to Bregman divergences. Our framework thus naturally generalizes a previously
proposed regularization based on the Boltzmann-Shannon entropy related to the
Kullback-Leibler divergence, and solved with the Sinkhorn-Knopp algorithm. We
call the regularized optimal transport distance the rot mover's distance in
reference to the classical earth mover's distance. We develop two generic
schemes that we respectively call the alternate scaling algorithm and the
non-negative alternate scaling algorithm, to compute efficiently the
regularized optimal plans depending on whether the domain of the regularizer
lies within the non-negative orthant or not. These schemes are based on
Dykstra's algorithm with alternate Bregman projections, and further exploit the
Newton-Raphson method when applied to separable divergences. We enhance the
separable case with a sparse extension to deal with high data dimensions. We
also instantiate our proposed framework and discuss the inherent specificities
for well-known regularizers and statistical divergences in the machine learning
and information geometry communities. Finally, we demonstrate the merits of our
methods with experiments using synthetic data to illustrate the effect of
different regularizers and penalties on the solutions, as well as real-world
data for a pattern recognition application to audio scene classification
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