How hard is it to cross the room? -- Training (Recurrent) Neural Networks to steer a UAV

This work explores the feasibility of steering a drone with a (recurrent) neural network, based on input from a forward looking camera, in the context of a high-level navigation task. We set up a generic framework for training a network to perform navigation tasks based on imitation learning. It can be applied to both aerial and land vehicles. As a proof of concept we apply it to a UAV (Unmanned Aerial Vehicle) in a simulated environment, learning to cross a room containing a number of obstacles. So far only feedforward neural networks (FNNs) have been used to train UAV control. To cope with more complex tasks, we propose the use of recurrent neural networks (RNN) instead and successfully train an LSTM (Long-Short Term Memory) network for controlling UAVs. Vision based control is a sequential prediction problem, known for its highly correlated input data. The correlation makes training a network hard, especially an RNN. To overcome this issue, we investigate an alternative sampling method during training, namely window-wise truncated backpropagation through time (WW-TBPTT). Further, end-to-end training requires a lot of data which often is not available. Therefore, we compare the performance of retraining only the Fully Connected (FC) and LSTM control layers with networks which are trained end-to-end. Performing the relatively simple task of crossing a room already reveals important guidelines and good practices for training neural control networks. Different visualizations help to explain the behavior learned.Comment: 12 pages, 30 figure

Estimation of Stochastic Attribute-Value Grammars using an Informative Sample

We argue that some of the computational complexity associated with estimation of stochastic attribute-value grammars can be reduced by training upon an informative subset of the full training set. Results using the parsed Wall Street Journal corpus show that in some circumstances, it is possible to obtain better estimation results using an informative sample than when training upon all the available material. Further experimentation demonstrates that with unlexicalised models, a Gaussian Prior can reduce overfitting. However, when models are lexicalised and contain overlapping features, overfitting does not seem to be a problem, and a Gaussian Prior makes minimal difference to performance. Our approach is applicable for situations when there are an infeasibly large number of parses in the training set, or else for when recovery of these parses from a packed representation is itself computationally expensive.Comment: 6 pages, 2 figures. Coling 2000, Saarbr\"{u}cken, Germany. pp 586--59

Oversampling for Imbalanced Learning Based on K-Means and SMOTE

Learning from class-imbalanced data continues to be a common and challenging problem in supervised learning as standard classification algorithms are designed to handle balanced class distributions. While different strategies exist to tackle this problem, methods which generate artificial data to achieve a balanced class distribution are more versatile than modifications to the classification algorithm. Such techniques, called oversamplers, modify the training data, allowing any classifier to be used with class-imbalanced datasets. Many algorithms have been proposed for this task, but most are complex and tend to generate unnecessary noise. This work presents a simple and effective oversampling method based on k-means clustering and SMOTE oversampling, which avoids the generation of noise and effectively overcomes imbalances between and within classes. Empirical results of extensive experiments with 71 datasets show that training data oversampled with the proposed method improves classification results. Moreover, k-means SMOTE consistently outperforms other popular oversampling methods. An implementation is made available in the python programming language.Comment: 19 pages, 8 figure