19,796 research outputs found
Concrete Dropout
Dropout is used as a practical tool to obtain uncertainty estimates in large
vision models and reinforcement learning (RL) tasks. But to obtain
well-calibrated uncertainty estimates, a grid-search over the dropout
probabilities is necessary - a prohibitive operation with large models, and an
impossible one with RL. We propose a new dropout variant which gives improved
performance and better calibrated uncertainties. Relying on recent developments
in Bayesian deep learning, we use a continuous relaxation of dropout's discrete
masks. Together with a principled optimisation objective, this allows for
automatic tuning of the dropout probability in large models, and as a result
faster experimentation cycles. In RL this allows the agent to adapt its
uncertainty dynamically as more data is observed. We analyse the proposed
variant extensively on a range of tasks, and give insights into common practice
in the field where larger dropout probabilities are often used in deeper model
layers
Probably Unknown: Deep Inverse Sensor Modelling In Radar
Radar presents a promising alternative to lidar and vision in autonomous
vehicle applications, able to detect objects at long range under a variety of
weather conditions. However, distinguishing between occupied and free space
from raw radar power returns is challenging due to complex interactions between
sensor noise and occlusion.
To counter this we propose to learn an Inverse Sensor Model (ISM) converting
a raw radar scan to a grid map of occupancy probabilities using a deep neural
network. Our network is self-supervised using partial occupancy labels
generated by lidar, allowing a robot to learn about world occupancy from past
experience without human supervision. We evaluate our approach on five hours of
data recorded in a dynamic urban environment. By accounting for the scene
context of each grid cell our model is able to successfully segment the world
into occupied and free space, outperforming standard CFAR filtering approaches.
Additionally by incorporating heteroscedastic uncertainty into our model
formulation, we are able to quantify the variance in the uncertainty throughout
the sensor observation. Through this mechanism we are able to successfully
identify regions of space that are likely to be occluded.Comment: 6 full pages, 1 page of reference
Deep Generative Modeling of LiDAR Data
Building models capable of generating structured output is a key challenge
for AI and robotics. While generative models have been explored on many types
of data, little work has been done on synthesizing lidar scans, which play a
key role in robot mapping and localization. In this work, we show that one can
adapt deep generative models for this task by unravelling lidar scans into a 2D
point map. Our approach can generate high quality samples, while simultaneously
learning a meaningful latent representation of the data. We demonstrate
significant improvements against state-of-the-art point cloud generation
methods. Furthermore, we propose a novel data representation that augments the
2D signal with absolute positional information. We show that this helps
robustness to noisy and imputed input; the learned model can recover the
underlying lidar scan from seemingly uninformative dataComment: Presented at IROS 201
Learning Hard Alignments with Variational Inference
There has recently been significant interest in hard attention models for
tasks such as object recognition, visual captioning and speech recognition.
Hard attention can offer benefits over soft attention such as decreased
computational cost, but training hard attention models can be difficult because
of the discrete latent variables they introduce. Previous work used REINFORCE
and Q-learning to approach these issues, but those methods can provide
high-variance gradient estimates and be slow to train. In this paper, we tackle
the problem of learning hard attention for a sequential task using variational
inference methods, specifically the recently introduced VIMCO and NVIL.
Furthermore, we propose a novel baseline that adapts VIMCO to this setting. We
demonstrate our method on a phoneme recognition task in clean and noisy
environments and show that our method outperforms REINFORCE, with the
difference being greater for a more complicated task
Generative and Discriminative Voxel Modeling with Convolutional Neural Networks
When working with three-dimensional data, choice of representation is key. We
explore voxel-based models, and present evidence for the viability of
voxellated representations in applications including shape modeling and object
classification. Our key contributions are methods for training voxel-based
variational autoencoders, a user interface for exploring the latent space
learned by the autoencoder, and a deep convolutional neural network
architecture for object classification. We address challenges unique to
voxel-based representations, and empirically evaluate our models on the
ModelNet benchmark, where we demonstrate a 51.5% relative improvement in the
state of the art for object classification.Comment: 9 pages, 5 figures, 2 table
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