1,049 research outputs found
Submodularity in Batch Active Learning and Survey Problems on Gaussian Random Fields
Many real-world datasets can be represented in the form of a graph whose edge
weights designate similarities between instances. A discrete Gaussian random
field (GRF) model is a finite-dimensional Gaussian process (GP) whose prior
covariance is the inverse of a graph Laplacian. Minimizing the trace of the
predictive covariance Sigma (V-optimality) on GRFs has proven successful in
batch active learning classification problems with budget constraints. However,
its worst-case bound has been missing. We show that the V-optimality on GRFs as
a function of the batch query set is submodular and hence its greedy selection
algorithm guarantees an (1-1/e) approximation ratio. Moreover, GRF models have
the absence-of-suppressor (AofS) condition. For active survey problems, we
propose a similar survey criterion which minimizes 1'(Sigma)1. In practice,
V-optimality criterion performs better than GPs with mutual information gain
criteria and allows nonuniform costs for different nodes
Attention and Anticipation in Fast Visual-Inertial Navigation
We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to
estimate its state using an on-board camera and an inertial sensor, without any
prior knowledge of the external environment. We consider the case in which the
robot can allocate limited resources to VIN, due to tight computational
constraints. Therefore, we answer the following question: under limited
resources, what are the most relevant visual cues to maximize the performance
of visual-inertial navigation? Our approach has four key ingredients. First, it
is task-driven, in that the selection of the visual cues is guided by a metric
quantifying the VIN performance. Second, it exploits the notion of
anticipation, since it uses a simplified model for forward-simulation of robot
dynamics, predicting the utility of a set of visual cues over a future time
horizon. Third, it is efficient and easy to implement, since it leads to a
greedy algorithm for the selection of the most relevant visual cues. Fourth, it
provides formal performance guarantees: we leverage submodularity to prove that
the greedy selection cannot be far from the optimal (combinatorial) selection.
Simulations and real experiments on agile drones show that our approach ensures
state-of-the-art VIN performance while maintaining a lean processing time. In
the easy scenarios, our approach outperforms appearance-based feature selection
in terms of localization errors. In the most challenging scenarios, it enables
accurate visual-inertial navigation while appearance-based feature selection
fails to track robot's motion during aggressive maneuvers.Comment: 20 pages, 7 figures, 2 table
Lazier Than Lazy Greedy
Is it possible to maximize a monotone submodular function faster than the
widely used lazy greedy algorithm (also known as accelerated greedy), both in
theory and practice? In this paper, we develop the first linear-time algorithm
for maximizing a general monotone submodular function subject to a cardinality
constraint. We show that our randomized algorithm, STOCHASTIC-GREEDY, can
achieve a approximation guarantee, in expectation, to the
optimum solution in time linear in the size of the data and independent of the
cardinality constraint. We empirically demonstrate the effectiveness of our
algorithm on submodular functions arising in data summarization, including
training large-scale kernel methods, exemplar-based clustering, and sensor
placement. We observe that STOCHASTIC-GREEDY practically achieves the same
utility value as lazy greedy but runs much faster. More surprisingly, we
observe that in many practical scenarios STOCHASTIC-GREEDY does not evaluate
the whole fraction of data points even once and still achieves
indistinguishable results compared to lazy greedy.Comment: In Proc. Conference on Artificial Intelligence (AAAI), 201
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