3,644 research outputs found
Learning from Minimum Entropy Queries in a Large Committee Machine
In supervised learning, the redundancy contained in random examples can be
avoided by learning from queries. Using statistical mechanics, we study
learning from minimum entropy queries in a large tree-committee machine. The
generalization error decreases exponentially with the number of training
examples, providing a significant improvement over the algebraic decay for
random examples. The connection between entropy and generalization error in
multi-layer networks is discussed, and a computationally cheap algorithm for
constructing queries is suggested and analysed.Comment: 4 pages, REVTeX, multicol, epsf, two postscript figures. To appear in
Physical Review E (Rapid Communications
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
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