82,792 research outputs found
Predictive-State Decoders: Encoding the Future into Recurrent Networks
Recurrent neural networks (RNNs) are a vital modeling technique that rely on
internal states learned indirectly by optimization of a supervised,
unsupervised, or reinforcement training loss. RNNs are used to model dynamic
processes that are characterized by underlying latent states whose form is
often unknown, precluding its analytic representation inside an RNN. In the
Predictive-State Representation (PSR) literature, latent state processes are
modeled by an internal state representation that directly models the
distribution of future observations, and most recent work in this area has
relied on explicitly representing and targeting sufficient statistics of this
probability distribution. We seek to combine the advantages of RNNs and PSRs by
augmenting existing state-of-the-art recurrent neural networks with
Predictive-State Decoders (PSDs), which add supervision to the network's
internal state representation to target predicting future observations.
Predictive-State Decoders are simple to implement and easily incorporated into
existing training pipelines via additional loss regularization. We demonstrate
the effectiveness of PSDs with experimental results in three different domains:
probabilistic filtering, Imitation Learning, and Reinforcement Learning. In
each, our method improves statistical performance of state-of-the-art recurrent
baselines and does so with fewer iterations and less data.Comment: NIPS 201
Do optimization methods in deep learning applications matter?
With advances in deep learning, exponential data growth and increasing model
complexity, developing efficient optimization methods are attracting much
research attention. Several implementations favor the use of Conjugate Gradient
(CG) and Stochastic Gradient Descent (SGD) as being practical and elegant
solutions to achieve quick convergence, however, these optimization processes
also present many limitations in learning across deep learning applications.
Recent research is exploring higher-order optimization functions as better
approaches, but these present very complex computational challenges for
practical use. Comparing first and higher-order optimization functions, in this
paper, our experiments reveal that Levemberg-Marquardt (LM) significantly
supersedes optimal convergence but suffers from very large processing time
increasing the training complexity of both, classification and reinforcement
learning problems. Our experiments compare off-the-shelf optimization
functions(CG, SGD, LM and L-BFGS) in standard CIFAR, MNIST, CartPole and
FlappyBird experiments.The paper presents arguments on which optimization
functions to use and further, which functions would benefit from
parallelization efforts to improve pretraining time and learning rate
convergence
Show, Attend and Interact: Perceivable Human-Robot Social Interaction through Neural Attention Q-Network
For a safe, natural and effective human-robot social interaction, it is
essential to develop a system that allows a robot to demonstrate the
perceivable responsive behaviors to complex human behaviors. We introduce the
Multimodal Deep Attention Recurrent Q-Network using which the robot exhibits
human-like social interaction skills after 14 days of interacting with people
in an uncontrolled real world. Each and every day during the 14 days, the
system gathered robot interaction experiences with people through a
hit-and-trial method and then trained the MDARQN on these experiences using
end-to-end reinforcement learning approach. The results of interaction based
learning indicate that the robot has learned to respond to complex human
behaviors in a perceivable and socially acceptable manner.Comment: 7 pages, 5 figures, accepted by IEEE-RAS ICRA'1
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