441 research outputs found
Asymptotic Consensus Without Self-Confidence
This paper studies asymptotic consensus in systems in which agents do not
necessarily have self-confidence, i.e., may disregard their own value during
execution of the update rule. We show that the prevalent hypothesis of
self-confidence in many convergence results can be replaced by the existence of
aperiodic cores. These are stable aperiodic subgraphs, which allow to virtually
store information about an agent's value distributedly in the network. Our
results are applicable to systems with message delays and memory loss.Comment: 13 page
Supervised Learning Under Distributed Features
This work studies the problem of learning under both large datasets and
large-dimensional feature space scenarios. The feature information is assumed
to be spread across agents in a network, where each agent observes some of the
features. Through local cooperation, the agents are supposed to interact with
each other to solve an inference problem and converge towards the global
minimizer of an empirical risk. We study this problem exclusively in the primal
domain, and propose new and effective distributed solutions with guaranteed
convergence to the minimizer with linear rate under strong convexity. This is
achieved by combining a dynamic diffusion construction, a pipeline strategy,
and variance-reduced techniques. Simulation results illustrate the conclusions
Tightly-coupled manipulation pipelines: Combining traditional pipelines and end-to-end learning
Traditionally, robot manipulation tasks are solved by engineering solutions in a modular fashion --- typically consisting of object detection, pose estimation, grasp planning, motion planning, and finally run a control algorithm to execute the planned motion. This traditional approach to robot manipulation separates the hard problem of manipulation into several self-contained stages, which can be developed independently, and gives interpretable outputs at each stage of the pipeline. However, this approach comes with a plethora of issues, most notably, their generalisability to a broad range of tasks; it is common that as tasks get more difficult, the systems become increasingly complex.
To combat the flaws of these systems, recent trends have seen robots visually learning to predict actions and grasp locations directly from sensor input in an end-to-end manner using deep neural networks, without the need to explicitly model the in-between modules. This thesis investigates a sample of methods, which fall somewhere on a spectrum from pipelined to fully end-to-end, which we believe to be more advantageous for developing a general manipulation system; one that could eventually be used in highly dynamic and unpredictable household environments.
The investigation starts at the far end of the spectrum, where we explore learning an end-to-end controller in simulation and then transferring to the real world by employing domain randomisation, and finish on the other end, with a new pipeline, where the individual modules bear little resemblance to the "traditional" ones. The thesis concludes with a proposition of a new paradigm: Tightly-coupled Manipulation Pipelines (TMP). Rather than learning all modules implicitly in one large, end-to-end network or conversely, having individual, pre-defined modules that are developed independently, TMPs suggest taking the best of both world by tightly coupling actions to observations, whilst still maintaining structure via an undefined number of learned modules, which do not have to bear any resemblance to the modules seen in "traditional" systems.Open Acces
Sparse Training Theory for Scalable and Efficient Agents
A fundamental task for artificial intelligence is learning. Deep Neural
Networks have proven to cope perfectly with all learning paradigms, i.e.
supervised, unsupervised, and reinforcement learning. Nevertheless, traditional
deep learning approaches make use of cloud computing facilities and do not
scale well to autonomous agents with low computational resources. Even in the
cloud, they suffer from computational and memory limitations, and they cannot
be used to model adequately large physical worlds for agents which assume
networks with billions of neurons. These issues are addressed in the last few
years by the emerging topic of sparse training, which trains sparse networks
from scratch. This paper discusses sparse training state-of-the-art, its
challenges and limitations while introducing a couple of new theoretical
research directions which has the potential of alleviating sparse training
limitations to push deep learning scalability well beyond its current
boundaries. Nevertheless, the theoretical advancements impact in complex
multi-agents settings is discussed from a real-world perspective, using the
smart grid case study
- …