14,011 research outputs found
Neural Task Programming: Learning to Generalize Across Hierarchical Tasks
In this work, we propose a novel robot learning framework called Neural Task
Programming (NTP), which bridges the idea of few-shot learning from
demonstration and neural program induction. NTP takes as input a task
specification (e.g., video demonstration of a task) and recursively decomposes
it into finer sub-task specifications. These specifications are fed to a
hierarchical neural program, where bottom-level programs are callable
subroutines that interact with the environment. We validate our method in three
robot manipulation tasks. NTP achieves strong generalization across sequential
tasks that exhibit hierarchal and compositional structures. The experimental
results show that NTP learns to generalize well to- wards unseen tasks with
increasing lengths, variable topologies, and changing objectives.Comment: ICRA 201
New distributed offline processing scheme at Belle
The offline processing of the data collected by the Belle detector has been
recently upgraded to cope with the excellent performance of the KEKB
accelerator. The 127/fb of data (120 TB on tape) collected between autumn 2003
and summer 2004 has been processed in 2 months, thanks to the high speed and
stability of the new, distributed processing scheme. We present here this new
processing scheme and its performance.Comment: 4 pages, 8 figures, uses CHEP2004.cl
Cooperative Game Theory within Multi-Agent Systems for Systems Scheduling
Research concerning organization and coordination within multi-agent systems
continues to draw from a variety of architectures and methodologies. The work
presented in this paper combines techniques from game theory and multi-agent
systems to produce self-organizing, polymorphic, lightweight, embedded agents
for systems scheduling within a large-scale real-time systems environment.
Results show how this approach is used to experimentally produce optimum
real-time scheduling through the emergent behavior of thousands of agents.
These results are obtained using a SWARM simulation of systems scheduling
within a High Energy Physics experiment consisting of 2500 digital signal
processors.Comment: Fourth International Conference on Hybrid Intelligent Systems (HIS),
Kitakyushu, Japan, December, 200
Real Time Global Tests of the ALICE High Level Trigger Data Transport Framework
The High Level Trigger (HLT) system of the ALICE experiment is an online
event filter and trigger system designed for input bandwidths of up to 25 GB/s
at event rates of up to 1 kHz. The system is designed as a scalable PC cluster,
implementing several hundred nodes. The transport of data in the system is
handled by an object-oriented data flow framework operating on the basis of the
publisher-subscriber principle, being designed fully pipelined with lowest
processing overhead and communication latency in the cluster. In this paper, we
report the latest measurements where this framework has been operated on five
different sites over a global north-south link extending more than 10,000 km,
processing a ``real-time'' data flow.Comment: 8 pages 4 figure
Frustum PointNets for 3D Object Detection from RGB-D Data
In this work, we study 3D object detection from RGB-D data in both indoor and
outdoor scenes. While previous methods focus on images or 3D voxels, often
obscuring natural 3D patterns and invariances of 3D data, we directly operate
on raw point clouds by popping up RGB-D scans. However, a key challenge of this
approach is how to efficiently localize objects in point clouds of large-scale
scenes (region proposal). Instead of solely relying on 3D proposals, our method
leverages both mature 2D object detectors and advanced 3D deep learning for
object localization, achieving efficiency as well as high recall for even small
objects. Benefited from learning directly in raw point clouds, our method is
also able to precisely estimate 3D bounding boxes even under strong occlusion
or with very sparse points. Evaluated on KITTI and SUN RGB-D 3D detection
benchmarks, our method outperforms the state of the art by remarkable margins
while having real-time capability.Comment: 15 pages, 12 figures, 14 table
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