CASSL: Curriculum Accelerated Self-Supervised Learning

Recent self-supervised learning approaches focus on using a few thousand data points to learn policies for high-level, low-dimensional action spaces. However, scaling this framework for high-dimensional control require either scaling up the data collection efforts or using a clever sampling strategy for training. We present a novel approach - Curriculum Accelerated Self-Supervised Learning (CASSL) - to train policies that map visual information to high-level, higher- dimensional action spaces. CASSL orders the sampling of training data based on control dimensions: the learning and sampling are focused on few control parameters before other parameters. The right curriculum for learning is suggested by variance-based global sensitivity analysis of the control space. We apply our CASSL framework to learning how to grasp using an adaptive, underactuated multi-fingered gripper, a challenging system to control. Our experimental results indicate that CASSL provides significant improvement and generalization compared to baseline methods such as staged curriculum learning (8% increase) and complete end-to-end learning with random exploration (14% improvement) tested on a set of novel objects

Benchmarking the Semi-Supervised Naïve Bayes Classifier

Semi-supervised learning involves constructing predictive models with both labelled and unlabelled training data. The need for semi-supervised learning is driven by the fact that unlabelled data are often easy and cheap to obtain, whereas labelling data requires costly and time consuming human intervention and expertise. Semi-supervised methods commonly use self training, which involves using the labelled data to predict the unlabelled data, then iteratively reconstructing classifiers using the predicted labels. Our aim is to determine whether self training classifiers actually improves performance. Expectation maximization is a commonly used self training scheme. We investigate whether an expectation maximization scheme improves a naïve Bayes classifier through experimentation with 30 discrete and 20 continuous real world benchmark UCI datasets. Rather surprisingly we find that in practice the self training actually makes the classifier worse. The cause for this detrimental affect on performance could either be with the self training scheme itself, or how self training works in conjunction with the classifier. Our hypothesis is that it is the latter cause, and the violation of the naïve Bayes model assumption of independence of attributes means predictive errors propagate through the self training scheme. To test whether this is the case, we generate simulated data with the same attribute distribution as the UCI data, but where the attributes are independent. Experiments with this data demonstrate that semi-supervised learning does improve performance, leading to significantly more accurate classifiers. These results demonstrate that semi-supervised learning cannot be applied blindly without considering the nature of the classifier, because the assumptions implicit in the classifier may result in a degradation in performance