Neural Network Memory Architectures for Autonomous Robot Navigation

This paper highlights the significance of including memory structures in neural networks when the latter are used to learn perception-action loops for autonomous robot navigation. Traditional navigation approaches rely on global maps of the environment to overcome cul-de-sacs and plan feasible motions. Yet, maintaining an accurate global map may be challenging in real-world settings. A possible way to mitigate this limitation is to use learning techniques that forgo hand-engineered map representations and infer appropriate control responses directly from sensed information. An important but unexplored aspect of such approaches is the effect of memory on their performance. This work is a first thorough study of memory structures for deep-neural-network-based robot navigation, and offers novel tools to train such networks from supervision and quantify their ability to generalize to unseen scenarios. We analyze the separation and generalization abilities of feedforward, long short-term memory, and differentiable neural computer networks. We introduce a new method to evaluate the generalization ability by estimating the VC-dimension of networks with a final linear readout layer. We validate that the VC estimates are good predictors of actual test performance. The reported method can be applied to deep learning problems beyond robotics

Parallel processing and expert systems

Whether it be monitoring the thermal subsystem of Space Station Freedom, or controlling the navigation of the autonomous rover on Mars, NASA missions in the 1990s cannot enjoy an increased level of autonomy without the efficient implementation of expert systems. Merely increasing the computational speed of uniprocessors may not be able to guarantee that real-time demands are met for larger systems. Speedup via parallel processing must be pursued alongside the optimization of sequential implementations. Prototypes of parallel expert systems have been built at universities and industrial laboratories in the U.S. and Japan. The state-of-the-art research in progress related to parallel execution of expert systems is surveyed. The survey discusses multiprocessors for expert systems, parallel languages for symbolic computations, and mapping expert systems to multiprocessors. Results to date indicate that the parallelism achieved for these systems is small. The main reasons are (1) the body of knowledge applicable in any given situation and the amount of computation executed by each rule firing are small, (2) dividing the problem solving process into relatively independent partitions is difficult, and (3) implementation decisions that enable expert systems to be incrementally refined hamper compile-time optimization. In order to obtain greater speedups, data parallelism and application parallelism must be exploited

Microgrid - The microthreaded many-core architecture

Traditional processors use the von Neumann execution model, some other processors in the past have used the dataflow execution model. A combination of von Neuman model and dataflow model is also tried in the past and the resultant model is referred as hybrid dataflow execution model. We describe a hybrid dataflow model known as the microthreading. It provides constructs for creation, synchronization and communication between threads in an intermediate language. The microthreading model is an abstract programming and machine model for many-core architecture. A particular instance of this model is named as the microthreaded architecture or the Microgrid. This architecture implements all the concurrency constructs of the microthreading model in the hardware with the management of these constructs in the hardware.Comment: 30 pages, 16 figure

Accelerated Steady-State Torque Computation for Induction Machines using Parallel-In-Time Algorithms

This paper focuses on efficient steady-state computations of induction machines. In particular, the periodic Parareal algorithm with initial-value coarse problem (PP-IC) is considered for acceleration of classical time-stepping simulations via non-intrusive parallelization in time domain, i.e., existing implementations can be reused. Superiority of this parallel-in-time method is in its direct applicability to time-periodic problems, compared to, e.g, the standard Parareal method, which only solves an initial-value problem, starting from a prescribed initial value. PP-IC is exploited here to obtain the steady state of several operating points of an induction motor, developed by Robert Bosch GmbH. Numerical experiments show that acceleration up to several dozens of times can be obtained, depending on availability of parallel processing units. Comparison of PP-IC with existing time-periodic explicit error correction method highlights better robustness and efficiency of the considered time-parallel approach

The Parallelism Motifs of Genomic Data Analysis

Genomic data sets are growing dramatically as the cost of sequencing continues to decline and small sequencing devices become available. Enormous community databases store and share this data with the research community, but some of these genomic data analysis problems require large scale computational platforms to meet both the memory and computational requirements. These applications differ from scientific simulations that dominate the workload on high end parallel systems today and place different requirements on programming support, software libraries, and parallel architectural design. For example, they involve irregular communication patterns such as asynchronous updates to shared data structures. We consider several problems in high performance genomics analysis, including alignment, profiling, clustering, and assembly for both single genomes and metagenomes. We identify some of the common computational patterns or motifs that help inform parallelization strategies and compare our motifs to some of the established lists, arguing that at least two key patterns, sorting and hashing, are missing