63,413 research outputs found
An Approximate Bayesian Long Short-Term Memory Algorithm for Outlier Detection
Long Short-Term Memory networks trained with gradient descent and
back-propagation have received great success in various applications. However,
point estimation of the weights of the networks is prone to over-fitting
problems and lacks important uncertainty information associated with the
estimation. However, exact Bayesian neural network methods are intractable and
non-applicable for real-world applications. In this study, we propose an
approximate estimation of the weights uncertainty using Ensemble Kalman Filter,
which is easily scalable to a large number of weights. Furthermore, we optimize
the covariance of the noise distribution in the ensemble update step using
maximum likelihood estimation. To assess the proposed algorithm, we apply it to
outlier detection in five real-world events retrieved from the Twitter
platform
Hierarchical Implicit Models and Likelihood-Free Variational Inference
Implicit probabilistic models are a flexible class of models defined by a
simulation process for data. They form the basis for theories which encompass
our understanding of the physical world. Despite this fundamental nature, the
use of implicit models remains limited due to challenges in specifying complex
latent structure in them, and in performing inferences in such models with
large data sets. In this paper, we first introduce hierarchical implicit models
(HIMs). HIMs combine the idea of implicit densities with hierarchical Bayesian
modeling, thereby defining models via simulators of data with rich hidden
structure. Next, we develop likelihood-free variational inference (LFVI), a
scalable variational inference algorithm for HIMs. Key to LFVI is specifying a
variational family that is also implicit. This matches the model's flexibility
and allows for accurate approximation of the posterior. We demonstrate diverse
applications: a large-scale physical simulator for predator-prey populations in
ecology; a Bayesian generative adversarial network for discrete data; and a
deep implicit model for text generation.Comment: Appears in Neural Information Processing Systems, 201
Differentiable Algorithm Networks for Composable Robot Learning
This paper introduces the Differentiable Algorithm Network (DAN), a
composable architecture for robot learning systems. A DAN is composed of neural
network modules, each encoding a differentiable robot algorithm and an
associated model; and it is trained end-to-end from data. DAN combines the
strengths of model-driven modular system design and data-driven end-to-end
learning. The algorithms and models act as structural assumptions to reduce the
data requirements for learning; end-to-end learning allows the modules to adapt
to one another and compensate for imperfect models and algorithms, in order to
achieve the best overall system performance. We illustrate the DAN methodology
through a case study on a simulated robot system, which learns to navigate in
complex 3-D environments with only local visual observations and an image of a
partially correct 2-D floor map.Comment: RSS 2019 camera ready. Video is available at
https://youtu.be/4jcYlTSJF4
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