8 research outputs found
Solving Bongard Problems with a Visual Language and Pragmatic Reasoning
More than 50 years ago Bongard introduced 100 visual concept learning
problems as a testbed for intelligent vision systems. These problems are now
known as Bongard problems. Although they are well known in the cognitive
science and AI communities only moderate progress has been made towards
building systems that can solve a substantial subset of them. In the system
presented here, visual features are extracted through image processing and then
translated into a symbolic visual vocabulary. We introduce a formal language
that allows representing complex visual concepts based on this vocabulary.
Using this language and Bayesian inference, complex visual concepts can be
induced from the examples that are provided in each Bongard problem. Contrary
to other concept learning problems the examples from which concepts are induced
are not random in Bongard problems, instead they are carefully chosen to
communicate the concept, hence requiring pragmatic reasoning. Taking pragmatic
reasoning into account we find good agreement between the concepts with high
posterior probability and the solutions formulated by Bongard himself. While
this approach is far from solving all Bongard problems, it solves the biggest
fraction yet
A Benchmark Environment Motivated by Industrial Control Problems
In the research area of reinforcement learning (RL), frequently novel and
promising methods are developed and introduced to the RL community. However,
although many researchers are keen to apply their methods on real-world
problems, implementing such methods in real industry environments often is a
frustrating and tedious process. Generally, academic research groups have only
limited access to real industrial data and applications. For this reason, new
methods are usually developed, evaluated and compared by using artificial
software benchmarks. On one hand, these benchmarks are designed to provide
interpretable RL training scenarios and detailed insight into the learning
process of the method on hand. On the other hand, they usually do not share
much similarity with industrial real-world applications. For this reason we
used our industry experience to design a benchmark which bridges the gap
between freely available, documented, and motivated artificial benchmarks and
properties of real industrial problems. The resulting industrial benchmark (IB)
has been made publicly available to the RL community by publishing its Java and
Python code, including an OpenAI Gym wrapper, on Github. In this paper we
motivate and describe in detail the IB's dynamics and identify prototypic
experimental settings that capture common situations in real-world industry
control problems
A Benchmark Environment Motivated by Industrial Control Problems
In the research area of reinforcement learning (RL), frequently novel and
promising methods are developed and introduced to the RL community. However,
although many researchers are keen to apply their methods on real-world
problems, implementing such methods in real industry environments often is a
frustrating and tedious process. Generally, academic research groups have only
limited access to real industrial data and applications. For this reason, new
methods are usually developed, evaluated and compared by using artificial
software benchmarks. On one hand, these benchmarks are designed to provide
interpretable RL training scenarios and detailed insight into the learning
process of the method on hand. On the other hand, they usually do not share
much similarity with industrial real-world applications. For this reason we
used our industry experience to design a benchmark which bridges the gap
between freely available, documented, and motivated artificial benchmarks and
properties of real industrial problems. The resulting industrial benchmark (IB)
has been made publicly available to the RL community by publishing its Java and
Python code, including an OpenAI Gym wrapper, on Github. In this paper we
motivate and describe in detail the IB's dynamics and identify prototypic
experimental settings that capture common situations in real-world industry
control problems
Learning navigation attractors for mobile robots with reinforcement learning and reservoir computing
Autonomous robot navigation in partially observable environments is a complex task because the state of the environment can not be completely determined only by the current sensory readings of a robot. This work uses the recently introduced paradigm for training recurrent neural networks (RNNs), called reservoir computing (RC), to model multiple navigation attractors in partially observable environments. In RC, the RNN with randomly generated fixed weights, called reservoir, projects the input into a high-dimensional dynamic space. Only the readout output layer is trained using standard linear regression techniques, and in this work, is used to approximate the state-action value function. By using a policy iteration framework, where an alternating sequence of policy improvement (samples generation from environment interaction) and policy evaluation (network training) steps are performed, the system is able to shape navigation attractors so that, after convergence, the robot follows the correct trajectory towards the goal. The experiments are accomplished using an e-puck robot extended with 8 distance sensors in a rectangular environment with an obstacle between the robot and the target region. The task is to reach the goal through the correct side of the environment, which is indicated by a temporary stimulus previously observed at the beginning of the episode. We show that the reservoir-based system (with short-term memory) can model these navigation attractors, whereas a feedforward network without memory fails to do so
Learning navigation attractors for mobile robots with reinforcement learning and reservoir computing
Autonomous robot navigation in partially observable environments is a complex task because the state of the environment can not be completely determined only by the current sensory readings of a robot. This work uses the recently introduced paradigm for training recurrent neural networks (RNNs), called reservoir computing (RC), to model multiple navigation attractors in partially observable environments. In RC, the RNN with randomly generated fixed weights, called reservoir, projects the input into a high-dimensional dynamic space. Only the readout output layer is trained using standard linear regression techniques, and in this work, is used to approximate the state-action value function. By using a policy iteration framework, where an alternating sequence of policy improvement (samples generation from environment interaction) and policy evaluation (network training) steps are performed, the system is able to shape navigation attractors so that, after convergence, the robot follows the correct trajectory towards the goal. The experiments are accomplished using an e-puck robot extended with 8 distance sensors in a rectangular environment with an obstacle between the robot and the target region. The task is to reach the goal through the correct side of the environment, which is indicated by a temporary stimulus previously observed at the beginning of the episode. We show that the reservoir-based system (with short-term memory) can model these navigation attractors, whereas a feedforward network without memory fails to do so
A Comparison of Uncertainty Quantification Methods for Earth Observation Image Regression Data
Over the past decade, neural networks (NNs) have been
successfully applied to earth observation (EO) data and
opened new research avenues. Despite the theoretical
and practical advances of these techniques, NNs are still
considered black box tools and by default are only designed
to give point predictions. However, the vast majority of EO
applications demand reliable uncertainty estimates that can
support practitioners in decision making tasks.
This work provides a theoretical and quantitative com-
parison of popular uncertainty quantification methods for
NNs with the focus on univariate image regression problems
in the EO domain. More specifically, we consider the task
of predicting tree-cover percentage from 4 channel satellite
imagery. Given a base architecture consisting of a Ran-
dom Convolutional Feature (RCF) extractor and a subse-
quent Multi-layer Perceptron Network (MLP), we apply a
wide range of uncertainty quantification (UQ) methods to
compare and evaluate their performance under geospatial
distribution shifts
Design of Hydraulic Burner Mouting
This bachelor thesis deals with constructional solution of gas burner clamping and control. The first part is dedicated to the general treatise about artificial aggregate production and its usage. Following parts look into possibilities of guarding the level of charge, which has just under burner high temperatures around 900 - 1000 °C. Proposal of mechanism, which keeps burner in constant height above the level, is done in last part.