77,265 research outputs found
A Real-Time Unsupervised Neural Network for the Low-Level Control of a Mobile Robot in a Nonstationary Environment
This article introduces a real-time, unsupervised neural network that learns to control a two-degree-of-freedom mobile robot in a nonstationary environment. The neural controller, which is termed neural NETwork MObile Robot Controller (NETMORC), combines associative learning and Vector Associative Map (YAM) learning to generate transformations between spatial and velocity coordinates. As a result, the controller learns the wheel velocities required to reach a target at an arbitrary distance and angle. The transformations are learned during an unsupervised training phase, during which the robot moves as a result of randomly selected wheel velocities. The robot learns the relationship between these velocities and the resulting incremental movements. Aside form being able to reach stationary or moving targets, the NETMORC structure also enables the robot to perform successfully in spite of disturbances in the enviroment, such as wheel slippage, or changes in the robot's plant, including changes in wheel radius, changes in inter-wheel distance, or changes in the internal time step of the system. Finally, the controller is extended to include a module that learns an internal odometric transformation, allowing the robot to reach targets when visual input is sporadic or unreliable.Sloan Fellowship (BR-3122), Air Force Office of Scientific Research (F49620-92-J-0499
Balancing Global Exploration and Local-connectivity Exploitation with Rapidly-exploring Random disjointed-Trees
Sampling efficiency in a highly constrained environment has long been a major
challenge for sampling-based planners. In this work, we propose
Rapidly-exploring Random disjointed-Trees* (RRdT*), an incremental optimal
multi-query planner. RRdT* uses multiple disjointed-trees to exploit
local-connectivity of spaces via Markov Chain random sampling, which utilises
neighbourhood information derived from previous successful and failed samples.
To balance local exploitation, RRdT* actively explore unseen global spaces when
local-connectivity exploitation is unsuccessful. The active trade-off between
local exploitation and global exploration is formulated as a multi-armed bandit
problem. We argue that the active balancing of global exploration and local
exploitation is the key to improving sample efficient in sampling-based motion
planners. We provide rigorous proofs of completeness and optimal convergence
for this novel approach. Furthermore, we demonstrate experimentally the
effectiveness of RRdT*'s locally exploring trees in granting improved
visibility for planning. Consequently, RRdT* outperforms existing
state-of-the-art incremental planners, especially in highly constrained
environments.Comment: Submitted to IEEE International Conference on Robotics and Automation
(ICRA) 201
Predicting and Explaining Human Semantic Search in a Cognitive Model
Recent work has attempted to characterize the structure of semantic memory
and the search algorithms which, together, best approximate human patterns of
search revealed in a semantic fluency task. There are a number of models that
seek to capture semantic search processes over networks, but they vary in the
cognitive plausibility of their implementation. Existing work has also
neglected to consider the constraints that the incremental process of language
acquisition must place on the structure of semantic memory. Here we present a
model that incrementally updates a semantic network, with limited computational
steps, and replicates many patterns found in human semantic fluency using a
simple random walk. We also perform thorough analyses showing that a
combination of both structural and semantic features are correlated with human
performance patterns.Comment: To appear in proceedings for CMCL 201
Less is More: Nystr\"om Computational Regularization
We study Nystr\"om type subsampling approaches to large scale kernel methods,
and prove learning bounds in the statistical learning setting, where random
sampling and high probability estimates are considered. In particular, we prove
that these approaches can achieve optimal learning bounds, provided the
subsampling level is suitably chosen. These results suggest a simple
incremental variant of Nystr\"om Kernel Regularized Least Squares, where the
subsampling level implements a form of computational regularization, in the
sense that it controls at the same time regularization and computations.
Extensive experimental analysis shows that the considered approach achieves
state of the art performances on benchmark large scale datasets.Comment: updated version of NIPS 2015 (oral
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