108,519 research outputs found
Generative-Discriminative Complementary Learning
Majority of state-of-the-art deep learning methods are discriminative
approaches, which model the conditional distribution of labels given inputs
features. The success of such approaches heavily depends on high-quality
labeled instances, which are not easy to obtain, especially as the number of
candidate classes increases. In this paper, we study the complementary learning
problem. Unlike ordinary labels, complementary labels are easy to obtain
because an annotator only needs to provide a yes/no answer to a randomly chosen
candidate class for each instance. We propose a generative-discriminative
complementary learning method that estimates the ordinary labels by modeling
both the conditional (discriminative) and instance (generative) distributions.
Our method, we call Complementary Conditional GAN (CCGAN), improves the
accuracy of predicting ordinary labels and can generate high-quality instances
in spite of weak supervision. In addition to the extensive empirical studies,
we also theoretically show that our model can retrieve the true conditional
distribution from the complementarily-labeled data
Wavelet Neural Networks: A Practical Guide
Wavelet networks (WNs) are a new class of networks which have been used with great success in a wide range of application. However a general accepted framework for applying WNs is missing from the literature. In this study, we present a complete statistical model identification framework in order to apply WNs in various applications. The following subjects were thorough examined: the structure of a WN, training methods, initialization algorithms, variable significance and variable selection algorithms, model selection methods and finally methods to construct confidence and prediction intervals. In addition the complexity of each algorithm is discussed. Our proposed framework was tested in two simulated cases, in one chaotic time series described by the Mackey-Glass equation and in three real datasets described by daily temperatures in Berlin, daily wind speeds in New York and breast cancer classification. Our results have shown that the proposed algorithms produce stable and robust results indicating that our proposed framework can be applied in various applications
Unscented Bayesian Optimization for Safe Robot Grasping
We address the robot grasp optimization problem of unknown objects
considering uncertainty in the input space. Grasping unknown objects can be
achieved by using a trial and error exploration strategy. Bayesian optimization
is a sample efficient optimization algorithm that is especially suitable for
this setups as it actively reduces the number of trials for learning about the
function to optimize. In fact, this active object exploration is the same
strategy that infants do to learn optimal grasps. One problem that arises while
learning grasping policies is that some configurations of grasp parameters may
be very sensitive to error in the relative pose between the object and robot
end-effector. We call these configurations unsafe because small errors during
grasp execution may turn good grasps into bad grasps. Therefore, to reduce the
risk of grasp failure, grasps should be planned in safe areas. We propose a new
algorithm, Unscented Bayesian optimization that is able to perform sample
efficient optimization while taking into consideration input noise to find safe
optima. The contribution of Unscented Bayesian optimization is twofold as if
provides a new decision process that drives exploration to safe regions and a
new selection procedure that chooses the optimal in terms of its safety without
extra analysis or computational cost. Both contributions are rooted on the
strong theory behind the unscented transformation, a popular nonlinear
approximation method. We show its advantages with respect to the classical
Bayesian optimization both in synthetic problems and in realistic robot grasp
simulations. The results highlights that our method achieves optimal and robust
grasping policies after few trials while the selected grasps remain in safe
regions.Comment: conference pape
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