18,049 research outputs found
One-Class Classification: Taxonomy of Study and Review of Techniques
One-class classification (OCC) algorithms aim to build classification models
when the negative class is either absent, poorly sampled or not well defined.
This unique situation constrains the learning of efficient classifiers by
defining class boundary just with the knowledge of positive class. The OCC
problem has been considered and applied under many research themes, such as
outlier/novelty detection and concept learning. In this paper we present a
unified view of the general problem of OCC by presenting a taxonomy of study
for OCC problems, which is based on the availability of training data,
algorithms used and the application domains applied. We further delve into each
of the categories of the proposed taxonomy and present a comprehensive
literature review of the OCC algorithms, techniques and methodologies with a
focus on their significance, limitations and applications. We conclude our
paper by discussing some open research problems in the field of OCC and present
our vision for future research.Comment: 24 pages + 11 pages of references, 8 figure
Data Management and Mining in Astrophysical Databases
We analyse the issues involved in the management and mining of astrophysical
data. The traditional approach to data management in the astrophysical field is
not able to keep up with the increasing size of the data gathered by modern
detectors. An essential role in the astrophysical research will be assumed by
automatic tools for information extraction from large datasets, i.e. data
mining techniques, such as clustering and classification algorithms. This asks
for an approach to data management based on data warehousing, emphasizing the
efficiency and simplicity of data access; efficiency is obtained using
multidimensional access methods and simplicity is achieved by properly handling
metadata. Clustering and classification techniques, on large datasets, pose
additional requirements: computational and memory scalability with respect to
the data size, interpretability and objectivity of clustering or classification
results. In this study we address some possible solutions.Comment: 10 pages, Late
Neural Network Memory Architectures for Autonomous Robot Navigation
This paper highlights the significance of including memory structures in
neural networks when the latter are used to learn perception-action loops for
autonomous robot navigation. Traditional navigation approaches rely on global
maps of the environment to overcome cul-de-sacs and plan feasible motions. Yet,
maintaining an accurate global map may be challenging in real-world settings. A
possible way to mitigate this limitation is to use learning techniques that
forgo hand-engineered map representations and infer appropriate control
responses directly from sensed information. An important but unexplored aspect
of such approaches is the effect of memory on their performance. This work is a
first thorough study of memory structures for deep-neural-network-based robot
navigation, and offers novel tools to train such networks from supervision and
quantify their ability to generalize to unseen scenarios. We analyze the
separation and generalization abilities of feedforward, long short-term memory,
and differentiable neural computer networks. We introduce a new method to
evaluate the generalization ability by estimating the VC-dimension of networks
with a final linear readout layer. We validate that the VC estimates are good
predictors of actual test performance. The reported method can be applied to
deep learning problems beyond robotics
Machine Learning in Wireless Sensor Networks: Algorithms, Strategies, and Applications
Wireless sensor networks monitor dynamic environments that change rapidly
over time. This dynamic behavior is either caused by external factors or
initiated by the system designers themselves. To adapt to such conditions,
sensor networks often adopt machine learning techniques to eliminate the need
for unnecessary redesign. Machine learning also inspires many practical
solutions that maximize resource utilization and prolong the lifespan of the
network. In this paper, we present an extensive literature review over the
period 2002-2013 of machine learning methods that were used to address common
issues in wireless sensor networks (WSNs). The advantages and disadvantages of
each proposed algorithm are evaluated against the corresponding problem. We
also provide a comparative guide to aid WSN designers in developing suitable
machine learning solutions for their specific application challenges.Comment: Accepted for publication in IEEE Communications Surveys and Tutorial
A 3D descriptor to detect task-oriented grasping points in clothing
© 2016. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/Manipulating textile objects with a robot is a challenging task, especially because the garment perception is difficult due to the endless configurations it can adopt, coupled with a large variety of colors and designs. Most current approaches follow a multiple re-grasp strategy, in which clothes are sequentially grasped from different points until one of them yields a recognizable configuration. In this work we propose a method that combines 3D and appearance information to directly select a suitable grasping point for the task at hand, which in our case consists of hanging a shirt or a polo shirt from a hook. Our method follows a coarse-to-fine approach in which, first, the collar of the garment is detected and, next, a grasping point on the lapel is chosen using a novel 3D descriptor.
In contrast to current 3D descriptors, ours can run in real time, even when it needs to be densely computed over the input image. Our central idea is to take advantage of the structured nature of range images that most depth sensors provide and, by exploiting integral imaging, achieve speed-ups of two orders of magnitude with respect to competing approaches, while maintaining performance. This makes it especially adequate for robotic applications as we thoroughly demonstrate in the experimental section.Peer ReviewedPostprint (author's final draft
Analysis of classifiers' robustness to adversarial perturbations
The goal of this paper is to analyze an intriguing phenomenon recently
discovered in deep networks, namely their instability to adversarial
perturbations (Szegedy et. al., 2014). We provide a theoretical framework for
analyzing the robustness of classifiers to adversarial perturbations, and show
fundamental upper bounds on the robustness of classifiers. Specifically, we
establish a general upper bound on the robustness of classifiers to adversarial
perturbations, and then illustrate the obtained upper bound on the families of
linear and quadratic classifiers. In both cases, our upper bound depends on a
distinguishability measure that captures the notion of difficulty of the
classification task. Our results for both classes imply that in tasks involving
small distinguishability, no classifier in the considered set will be robust to
adversarial perturbations, even if a good accuracy is achieved. Our theoretical
framework moreover suggests that the phenomenon of adversarial instability is
due to the low flexibility of classifiers, compared to the difficulty of the
classification task (captured by the distinguishability). Moreover, we show the
existence of a clear distinction between the robustness of a classifier to
random noise and its robustness to adversarial perturbations. Specifically, the
former is shown to be larger than the latter by a factor that is proportional
to \sqrt{d} (with d being the signal dimension) for linear classifiers. This
result gives a theoretical explanation for the discrepancy between the two
robustness properties in high dimensional problems, which was empirically
observed in the context of neural networks. To the best of our knowledge, our
results provide the first theoretical work that addresses the phenomenon of
adversarial instability recently observed for deep networks. Our analysis is
complemented by experimental results on controlled and real-world data
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