45,512 research outputs found
Motion Switching with Sensory and Instruction Signals by designing Dynamical Systems using Deep Neural Network
To ensure that a robot is able to accomplish an extensive range of tasks, it
is necessary to achieve a flexible combination of multiple behaviors. This is
because the design of task motions suited to each situation would become
increasingly difficult as the number of situations and the types of tasks
performed by them increase. To handle the switching and combination of multiple
behaviors, we propose a method to design dynamical systems based on point
attractors that accept (i) "instruction signals" for instruction-driven
switching. We incorporate the (ii) "instruction phase" to form a point
attractor and divide the target task into multiple subtasks. By forming an
instruction phase that consists of point attractors, the model embeds a subtask
in the form of trajectory dynamics that can be manipulated using sensory and
instruction signals. Our model comprises two deep neural networks: a
convolutional autoencoder and a multiple time-scale recurrent neural network.
In this study, we apply the proposed method to manipulate soft materials. To
evaluate our model, we design a cloth-folding task that consists of four
subtasks and three patterns of instruction signals, which indicate the
direction of motion. The results depict that the robot can perform the required
task by combining subtasks based on sensory and instruction signals. And, our
model determined the relations among these signals using its internal dynamics.Comment: 8 pages, 6 figures, accepted for publication in RA-L. An accompanied
video is available at this https://youtu.be/a73KFtOOB5
A biologically inspired meta-control navigation system for the Psikharpax rat robot
A biologically inspired navigation system for the mobile rat-like robot named Psikharpax is presented, allowing for self-localization and autonomous navigation in an initially unknown environment. The ability of parts of the model (e. g. the strategy selection mechanism) to reproduce rat behavioral data in various maze tasks has been validated before in simulations. But the capacity of the model to work on a real robot platform had not been tested. This paper presents our work on the implementation on the Psikharpax robot of two independent navigation strategies (a place-based planning strategy and a cue-guided taxon strategy) and a strategy selection meta-controller. We show how our robot can memorize which was the optimal strategy in each situation, by means of a reinforcement learning algorithm. Moreover, a context detector enables the controller to quickly adapt to changes in the environment-recognized as new contexts-and to restore previously acquired strategy preferences when a previously experienced context is recognized. This produces adaptivity closer to rat behavioral performance and constitutes a computational proposition of the role of the rat prefrontal cortex in strategy shifting. Moreover, such a brain-inspired meta-controller may provide an advancement for learning architectures in robotics
A Dual-Stage Attention-Based Recurrent Neural Network for Time Series Prediction
The Nonlinear autoregressive exogenous (NARX) model, which predicts the
current value of a time series based upon its previous values as well as the
current and past values of multiple driving (exogenous) series, has been
studied for decades. Despite the fact that various NARX models have been
developed, few of them can capture the long-term temporal dependencies
appropriately and select the relevant driving series to make predictions. In
this paper, we propose a dual-stage attention-based recurrent neural network
(DA-RNN) to address these two issues. In the first stage, we introduce an input
attention mechanism to adaptively extract relevant driving series (a.k.a.,
input features) at each time step by referring to the previous encoder hidden
state. In the second stage, we use a temporal attention mechanism to select
relevant encoder hidden states across all time steps. With this dual-stage
attention scheme, our model can not only make predictions effectively, but can
also be easily interpreted. Thorough empirical studies based upon the SML 2010
dataset and the NASDAQ 100 Stock dataset demonstrate that the DA-RNN can
outperform state-of-the-art methods for time series prediction.Comment: International Joint Conference on Artificial Intelligence (IJCAI),
201
Data-free parameter pruning for Deep Neural Networks
Deep Neural nets (NNs) with millions of parameters are at the heart of many
state-of-the-art computer vision systems today. However, recent works have
shown that much smaller models can achieve similar levels of performance. In
this work, we address the problem of pruning parameters in a trained NN model.
Instead of removing individual weights one at a time as done in previous works,
we remove one neuron at a time. We show how similar neurons are redundant, and
propose a systematic way to remove them. Our experiments in pruning the densely
connected layers show that we can remove upto 85\% of the total parameters in
an MNIST-trained network, and about 35\% for AlexNet without significantly
affecting performance. Our method can be applied on top of most networks with a
fully connected layer to give a smaller network.Comment: BMVC 201
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