17,047 research outputs found
Online Ensemble Learning of Sensorimotor Contingencies
Forward models play a key role in cognitive agents by providing predictions of the sensory consequences of motor commands, also known as sensorimotor contingencies (SMCs). In continuously evolving environments, the ability to anticipate is fundamental in distinguishing cognitive from reactive agents, and it is particularly relevant for autonomous robots, that must be able to adapt their models in an online manner. Online learning skills, high accuracy of the forward models and multiple-step-ahead predictions are needed to enhance the robots’ anticipation capabilities. We propose an online heterogeneous ensemble learning method for building accurate forward models of SMCs relating motor commands to effects in robots’ sensorimotor system, in particular considering proprioception and vision. Our method achieves up to 98% higher accuracy both in short and long term predictions, compared to single predictors and other online and offline homogeneous ensembles. This method is validated on two different humanoid robots, namely the iCub and the Baxter
TreeGrad: Transferring Tree Ensembles to Neural Networks
Gradient Boosting Decision Tree (GBDT) are popular machine learning
algorithms with implementations such as LightGBM and in popular machine
learning toolkits like Scikit-Learn. Many implementations can only produce
trees in an offline manner and in a greedy manner. We explore ways to convert
existing GBDT implementations to known neural network architectures with
minimal performance loss in order to allow decision splits to be updated in an
online manner and provide extensions to allow splits points to be altered as a
neural architecture search problem. We provide learning bounds for our neural
network.Comment: Technical Report on Implementation of Deep Neural Decision Forests
Algorithm. To accompany implementation here:
https://github.com/chappers/TreeGrad. Update: Please cite as: Siu, C. (2019).
"Transferring Tree Ensembles to Neural Networks". International Conference on
Neural Information Processing. Springer, 2019. arXiv admin note: text overlap
with arXiv:1909.1179
Classifying pairs with trees for supervised biological network inference
Networks are ubiquitous in biology and computational approaches have been
largely investigated for their inference. In particular, supervised machine
learning methods can be used to complete a partially known network by
integrating various measurements. Two main supervised frameworks have been
proposed: the local approach, which trains a separate model for each network
node, and the global approach, which trains a single model over pairs of nodes.
Here, we systematically investigate, theoretically and empirically, the
exploitation of tree-based ensemble methods in the context of these two
approaches for biological network inference. We first formalize the problem of
network inference as classification of pairs, unifying in the process
homogeneous and bipartite graphs and discussing two main sampling schemes. We
then present the global and the local approaches, extending the later for the
prediction of interactions between two unseen network nodes, and discuss their
specializations to tree-based ensemble methods, highlighting their
interpretability and drawing links with clustering techniques. Extensive
computational experiments are carried out with these methods on various
biological networks that clearly highlight that these methods are competitive
with existing methods.Comment: 22 page
Random forests with random projections of the output space for high dimensional multi-label classification
We adapt the idea of random projections applied to the output space, so as to
enhance tree-based ensemble methods in the context of multi-label
classification. We show how learning time complexity can be reduced without
affecting computational complexity and accuracy of predictions. We also show
that random output space projections may be used in order to reach different
bias-variance tradeoffs, over a broad panel of benchmark problems, and that
this may lead to improved accuracy while reducing significantly the
computational burden of the learning stage
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