47,897 research outputs found
Rhythmic Representations: Learning Periodic Patterns for Scalable Place Recognition at a Sub-Linear Storage Cost
Robotic and animal mapping systems share many challenges and characteristics:
they must function in a wide variety of environmental conditions, enable the
robot or animal to navigate effectively to find food or shelter, and be
computationally tractable from both a speed and storage perspective. With
regards to map storage, the mammalian brain appears to take a diametrically
opposed approach to all current robotic mapping systems. Where robotic mapping
systems attempt to solve the data association problem to minimise
representational aliasing, neurons in the brain intentionally break data
association by encoding large (potentially unlimited) numbers of places with a
single neuron. In this paper, we propose a novel method based on supervised
learning techniques that seeks out regularly repeating visual patterns in the
environment with mutually complementary co-prime frequencies, and an encoding
scheme that enables storage requirements to grow sub-linearly with the size of
the environment being mapped. To improve robustness in challenging real-world
environments while maintaining storage growth sub-linearity, we incorporate
both multi-exemplar learning and data augmentation techniques. Using large
benchmark robotic mapping datasets, we demonstrate the combined system
achieving high-performance place recognition with sub-linear storage
requirements, and characterize the performance-storage growth trade-off curve.
The work serves as the first robotic mapping system with sub-linear storage
scaling properties, as well as the first large-scale demonstration in
real-world environments of one of the proposed memory benefits of these
neurons.Comment: Pre-print of article that will appear in the IEEE Robotics and
Automation Letter
Human-Machine Collaborative Optimization via Apprenticeship Scheduling
Coordinating agents to complete a set of tasks with intercoupled temporal and
resource constraints is computationally challenging, yet human domain experts
can solve these difficult scheduling problems using paradigms learned through
years of apprenticeship. A process for manually codifying this domain knowledge
within a computational framework is necessary to scale beyond the
``single-expert, single-trainee" apprenticeship model. However, human domain
experts often have difficulty describing their decision-making processes,
causing the codification of this knowledge to become laborious. We propose a
new approach for capturing domain-expert heuristics through a pairwise ranking
formulation. Our approach is model-free and does not require enumerating or
iterating through a large state space. We empirically demonstrate that this
approach accurately learns multifaceted heuristics on a synthetic data set
incorporating job-shop scheduling and vehicle routing problems, as well as on
two real-world data sets consisting of demonstrations of experts solving a
weapon-to-target assignment problem and a hospital resource allocation problem.
We also demonstrate that policies learned from human scheduling demonstration
via apprenticeship learning can substantially improve the efficiency of a
branch-and-bound search for an optimal schedule. We employ this human-machine
collaborative optimization technique on a variant of the weapon-to-target
assignment problem. We demonstrate that this technique generates solutions
substantially superior to those produced by human domain experts at a rate up
to 9.5 times faster than an optimization approach and can be applied to
optimally solve problems twice as complex as those solved by a human
demonstrator.Comment: Portions of this paper were published in the Proceedings of the
International Joint Conference on Artificial Intelligence (IJCAI) in 2016 and
in the Proceedings of Robotics: Science and Systems (RSS) in 2016. The paper
consists of 50 pages with 11 figures and 4 table
Generalized Kernel-based Visual Tracking
In this work we generalize the plain MS trackers and attempt to overcome
standard mean shift trackers' two limitations.
It is well known that modeling and maintaining a representation of a target
object is an important component of a successful visual tracker.
However, little work has been done on building a robust template model for
kernel-based MS tracking. In contrast to building a template from a single
frame, we train a robust object representation model from a large amount of
data. Tracking is viewed as a binary classification problem, and a
discriminative classification rule is learned to distinguish between the object
and background. We adopt a support vector machine (SVM) for training. The
tracker is then implemented by maximizing the classification score. An
iterative optimization scheme very similar to MS is derived for this purpose.Comment: 12 page
Training Support Vector Machines Using Frank-Wolfe Optimization Methods
Training a Support Vector Machine (SVM) requires the solution of a quadratic
programming problem (QP) whose computational complexity becomes prohibitively
expensive for large scale datasets. Traditional optimization methods cannot be
directly applied in these cases, mainly due to memory restrictions.
By adopting a slightly different objective function and under mild conditions
on the kernel used within the model, efficient algorithms to train SVMs have
been devised under the name of Core Vector Machines (CVMs). This framework
exploits the equivalence of the resulting learning problem with the task of
building a Minimal Enclosing Ball (MEB) problem in a feature space, where data
is implicitly embedded by a kernel function.
In this paper, we improve on the CVM approach by proposing two novel methods
to build SVMs based on the Frank-Wolfe algorithm, recently revisited as a fast
method to approximate the solution of a MEB problem. In contrast to CVMs, our
algorithms do not require to compute the solutions of a sequence of
increasingly complex QPs and are defined by using only analytic optimization
steps. Experiments on a large collection of datasets show that our methods
scale better than CVMs in most cases, sometimes at the price of a slightly
lower accuracy. As CVMs, the proposed methods can be easily extended to machine
learning problems other than binary classification. However, effective
classifiers are also obtained using kernels which do not satisfy the condition
required by CVMs and can thus be used for a wider set of problems
Runtime Optimizations for Prediction with Tree-Based Models
Tree-based models have proven to be an effective solution for web ranking as
well as other problems in diverse domains. This paper focuses on optimizing the
runtime performance of applying such models to make predictions, given an
already-trained model. Although exceedingly simple conceptually, most
implementations of tree-based models do not efficiently utilize modern
superscalar processor architectures. By laying out data structures in memory in
a more cache-conscious fashion, removing branches from the execution flow using
a technique called predication, and micro-batching predictions using a
technique called vectorization, we are able to better exploit modern processor
architectures and significantly improve the speed of tree-based models over
hard-coded if-else blocks. Our work contributes to the exploration of
architecture-conscious runtime implementations of machine learning algorithms
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