25,479 research outputs found
A generic optimising feature extraction method using multiobjective genetic programming
In this paper, we present a generic, optimising feature extraction method using multiobjective genetic programming. We re-examine the feature extraction problem and show that effective feature extraction can significantly enhance the performance of pattern recognition systems with simple classifiers. A framework is presented to evolve optimised feature extractors that transform an input pattern space into a decision space in which maximal class separability is obtained. We have applied this method to real world datasets from the UCI Machine Learning and StatLog databases to verify our approach and compare our proposed method with other reported results. We conclude that our algorithm is able to produce classifiers of superior (or equivalent) performance to the conventional classifiers examined, suggesting removal of the need to exhaustively evaluate a large family of conventional classifiers on any new problem. (C) 2010 Elsevier B.V. All rights reserved
Application of multiobjective genetic programming to the design of robot failure recognition systems
We present an evolutionary approach using multiobjective genetic programming (MOGP) to derive optimal feature extraction preprocessing stages for robot failure detection. This data-driven machine learning method is compared both with conventional (nonevolutionary) classifiers and a set of domain-dependent feature extraction methods. We conclude MOGP is an effective and practical design method for failure recognition systems with enhanced recognition accuracy over conventional classifiers, independent of domain knowledge
Bayesian Semi-supervised Learning with Graph Gaussian Processes
We propose a data-efficient Gaussian process-based Bayesian approach to the
semi-supervised learning problem on graphs. The proposed model shows extremely
competitive performance when compared to the state-of-the-art graph neural
networks on semi-supervised learning benchmark experiments, and outperforms the
neural networks in active learning experiments where labels are scarce.
Furthermore, the model does not require a validation data set for early
stopping to control over-fitting. Our model can be viewed as an instance of
empirical distribution regression weighted locally by network connectivity. We
further motivate the intuitive construction of the model with a Bayesian linear
model interpretation where the node features are filtered by an operator
related to the graph Laplacian. The method can be easily implemented by
adapting off-the-shelf scalable variational inference algorithms for Gaussian
processes.Comment: To appear in NIPS 2018 Fixed an error in Figure 2. The previous arxiv
version contains two identical sub-figure
Generating Interpretable Fuzzy Controllers using Particle Swarm Optimization and Genetic Programming
Autonomously training interpretable control strategies, called policies,
using pre-existing plant trajectory data is of great interest in industrial
applications. Fuzzy controllers have been used in industry for decades as
interpretable and efficient system controllers. In this study, we introduce a
fuzzy genetic programming (GP) approach called fuzzy GP reinforcement learning
(FGPRL) that can select the relevant state features, determine the size of the
required fuzzy rule set, and automatically adjust all the controller parameters
simultaneously. Each GP individual's fitness is computed using model-based
batch reinforcement learning (RL), which first trains a model using available
system samples and subsequently performs Monte Carlo rollouts to predict each
policy candidate's performance. We compare FGPRL to an extended version of a
related method called fuzzy particle swarm reinforcement learning (FPSRL),
which uses swarm intelligence to tune the fuzzy policy parameters. Experiments
using an industrial benchmark show that FGPRL is able to autonomously learn
interpretable fuzzy policies with high control performance.Comment: Accepted at Genetic and Evolutionary Computation Conference 2018
(GECCO '18
Single-Shot Clothing Category Recognition in Free-Configurations with Application to Autonomous Clothes Sorting
This paper proposes a single-shot approach for recognising clothing
categories from 2.5D features. We propose two visual features, BSP (B-Spline
Patch) and TSD (Topology Spatial Distances) for this task. The local BSP
features are encoded by LLC (Locality-constrained Linear Coding) and fused with
three different global features. Our visual feature is robust to deformable
shapes and our approach is able to recognise the category of unknown clothing
in unconstrained and random configurations. We integrated the category
recognition pipeline with a stereo vision system, clothing instance detection,
and dual-arm manipulators to achieve an autonomous sorting system. To verify
the performance of our proposed method, we build a high-resolution RGBD
clothing dataset of 50 clothing items of 5 categories sampled in random
configurations (a total of 2,100 clothing samples). Experimental results show
that our approach is able to reach 83.2\% accuracy while classifying clothing
items which were previously unseen during training. This advances beyond the
previous state-of-the-art by 36.2\%. Finally, we evaluate the proposed approach
in an autonomous robot sorting system, in which the robot recognises a clothing
item from an unconstrained pile, grasps it, and sorts it into a box according
to its category. Our proposed sorting system achieves reasonable sorting
success rates with single-shot perception.Comment: 9 pages, accepted by IROS201
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