52,729 research outputs found
Towards Visual Ego-motion Learning in Robots
Many model-based Visual Odometry (VO) algorithms have been proposed in the
past decade, often restricted to the type of camera optics, or the underlying
motion manifold observed. We envision robots to be able to learn and perform
these tasks, in a minimally supervised setting, as they gain more experience.
To this end, we propose a fully trainable solution to visual ego-motion
estimation for varied camera optics. We propose a visual ego-motion learning
architecture that maps observed optical flow vectors to an ego-motion density
estimate via a Mixture Density Network (MDN). By modeling the architecture as a
Conditional Variational Autoencoder (C-VAE), our model is able to provide
introspective reasoning and prediction for ego-motion induced scene-flow.
Additionally, our proposed model is especially amenable to bootstrapped
ego-motion learning in robots where the supervision in ego-motion estimation
for a particular camera sensor can be obtained from standard navigation-based
sensor fusion strategies (GPS/INS and wheel-odometry fusion). Through
experiments, we show the utility of our proposed approach in enabling the
concept of self-supervised learning for visual ego-motion estimation in
autonomous robots.Comment: Conference paper; Submitted to IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS) 2017, Vancouver CA; 8 pages, 8 figures,
2 table
Generative Adversarial Networks (GANs): Challenges, Solutions, and Future Directions
Generative Adversarial Networks (GANs) is a novel class of deep generative
models which has recently gained significant attention. GANs learns complex and
high-dimensional distributions implicitly over images, audio, and data.
However, there exists major challenges in training of GANs, i.e., mode
collapse, non-convergence and instability, due to inappropriate design of
network architecture, use of objective function and selection of optimization
algorithm. Recently, to address these challenges, several solutions for better
design and optimization of GANs have been investigated based on techniques of
re-engineered network architectures, new objective functions and alternative
optimization algorithms. To the best of our knowledge, there is no existing
survey that has particularly focused on broad and systematic developments of
these solutions. In this study, we perform a comprehensive survey of the
advancements in GANs design and optimization solutions proposed to handle GANs
challenges. We first identify key research issues within each design and
optimization technique and then propose a new taxonomy to structure solutions
by key research issues. In accordance with the taxonomy, we provide a detailed
discussion on different GANs variants proposed within each solution and their
relationships. Finally, based on the insights gained, we present the promising
research directions in this rapidly growing field.Comment: 42 pages, Figure 13, Table
Evolutionary design of a full-envelope full-authority flight control system for an unstable high-performance aircraft
The use of an evolutionary algorithm in the framework of H1 control theory is being considered as a means for synthesizing controller gains that minimize a weighted combination of the infinite norm of the sensitivity function (for disturbance attenuation requirements) and complementary sensitivity function (for robust stability requirements) at the same time. The case study deals with a complete full-authority longitudinal control system for an unstable high-performance jet aircraft featuring (i) a stability and control augmentation system and (ii) autopilot functions (speed and altitude hold). Constraints on closed-loop response are enforced, that representing typical requirements on airplane handling qualities, that makes the control law synthesis process more demanding. Gain scheduling is required, in order to obtain satisfactory performance over the whole flight envelope, so that the synthesis is performed at different reference trim conditions, for several values of the dynamic pressure, used as the scheduling parameter. Nonetheless, the dynamic behaviour of the aircraft may exhibit significant variations when flying at different altitudes, even for the same value of the dynamic pressure, so that a trade-off is required between different feasible controllers synthesized at different altitudes for a given equivalent airspeed. A multiobjective search is thus considered for the determination of the best suited solution to be introduced in the scheduling of the control law. The obtained results are then tested on a longitudinal non-linear model of the aircraft
Deep Learning Framework for Wireless Systems: Applications to Optical Wireless Communications
Optical wireless communication (OWC) is a promising technology for future
wireless communications owing to its potentials for cost-effective network
deployment and high data rate. There are several implementation issues in the
OWC which have not been encountered in radio frequency wireless communications.
First, practical OWC transmitters need an illumination control on color,
intensity, and luminance, etc., which poses complicated modulation design
challenges. Furthermore, signal-dependent properties of optical channels raise
non-trivial challenges both in modulation and demodulation of the optical
signals. To tackle such difficulties, deep learning (DL) technologies can be
applied for optical wireless transceiver design. This article addresses recent
efforts on DL-based OWC system designs. A DL framework for emerging image
sensor communication is proposed and its feasibility is verified by simulation.
Finally, technical challenges and implementation issues for the DL-based
optical wireless technology are discussed.Comment: To appear in IEEE Communications Magazine, Special Issue on
Applications of Artificial Intelligence in Wireless Communication
Self-Paced Learning: an Implicit Regularization Perspective
Self-paced learning (SPL) mimics the cognitive mechanism of humans and
animals that gradually learns from easy to hard samples. One key issue in SPL
is to obtain better weighting strategy that is determined by minimizer
function. Existing methods usually pursue this by artificially designing the
explicit form of SPL regularizer. In this paper, we focus on the minimizer
function, and study a group of new regularizer, named self-paced implicit
regularizer that is deduced from robust loss function. Based on the convex
conjugacy theory, the minimizer function for self-paced implicit regularizer
can be directly learned from the latent loss function, while the analytic form
of the regularizer can be even known. A general framework (named SPL-IR) for
SPL is developed accordingly. We demonstrate that the learning procedure of
SPL-IR is associated with latent robust loss functions, thus can provide some
theoretical inspirations for its working mechanism. We further analyze the
relation between SPL-IR and half-quadratic optimization. Finally, we implement
SPL-IR to both supervised and unsupervised tasks, and experimental results
corroborate our ideas and demonstrate the correctness and effectiveness of
implicit regularizers.Comment: 12 pages, 3 figure
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