15,793 research outputs found
Logical Learning Through a Hybrid Neural Network with Auxiliary Inputs
The human reasoning process is seldom a one-way process from an input leading
to an output. Instead, it often involves a systematic deduction by ruling out
other possible outcomes as a self-checking mechanism. In this paper, we
describe the design of a hybrid neural network for logical learning that is
similar to the human reasoning through the introduction of an auxiliary input,
namely the indicators, that act as the hints to suggest logical outcomes. We
generate these indicators by digging into the hidden information buried
underneath the original training data for direct or indirect suggestions. We
used the MNIST data to demonstrate the design and use of these indicators in a
convolutional neural network. We trained a series of such hybrid neural
networks with variations of the indicators. Our results show that these hybrid
neural networks are very robust in generating logical outcomes with inherently
higher prediction accuracy than the direct use of the original input and output
in apparent models. Such improved predictability with reassured logical
confidence is obtained through the exhaustion of all possible indicators to
rule out all illogical outcomes, which is not available in the apparent models.
Our logical learning process can effectively cope with the unknown unknowns
using a full exploitation of all existing knowledge available for learning. The
design and implementation of the hints, namely the indicators, become an
essential part of artificial intelligence for logical learning. We also
introduce an ongoing application setup for this hybrid neural network in an
autonomous grasping robot, namely as_DeepClaw, aiming at learning an optimized
grasping pose through logical learning.Comment: 11 pages, 9 figures, 4 table
DeepICP: An End-to-End Deep Neural Network for 3D Point Cloud Registration
We present DeepICP - a novel end-to-end learning-based 3D point cloud
registration framework that achieves comparable registration accuracy to prior
state-of-the-art geometric methods. Different from other keypoint based methods
where a RANSAC procedure is usually needed, we implement the use of various
deep neural network structures to establish an end-to-end trainable network.
Our keypoint detector is trained through this end-to-end structure and enables
the system to avoid the inference of dynamic objects, leverages the help of
sufficiently salient features on stationary objects, and as a result, achieves
high robustness. Rather than searching the corresponding points among existing
points, the key contribution is that we innovatively generate them based on
learned matching probabilities among a group of candidates, which can boost the
registration accuracy. Our loss function incorporates both the local similarity
and the global geometric constraints to ensure all above network designs can
converge towards the right direction. We comprehensively validate the
effectiveness of our approach using both the KITTI dataset and the
Apollo-SouthBay dataset. Results demonstrate that our method achieves
comparable or better performance than the state-of-the-art geometry-based
methods. Detailed ablation and visualization analysis are included to further
illustrate the behavior and insights of our network. The low registration error
and high robustness of our method makes it attractive for substantial
applications relying on the point cloud registration task.Comment: 10 pages, 6 figures, 3 tables, typos corrected, experimental results
updated, accepted by ICCV 201
Conserved Quantities and the Algebra of Braid Excitations in Quantum Gravity
We derive conservation laws from interactions of braid-like excitations of
embedded framed spin networks in Quantum Gravity. We also demonstrate that the
set of stable braid-like excitations form a noncommutative algebra under braid
interaction, in which the set of actively-interacting braids is a subalgebra.Comment: 26 pages, discussion expanded, accepted by Nucl. Phys.
Probing the messenger of supersymmetry breaking by the muon anomalous magnetic moment
Motivated by the recently measured muon's anomalous magnetic moment
, we examine the supersymmetry contribution to in various
mediation models of supersymmetry breaking which lead to predictive flavor
conserving soft parameters at high energy scale. The studied models include
dilaton/modulus-mediated models in heterotic string/ theory, gauge-mediated
model, no-scale or gaugino-mediated model, and also the minimal and deflected
anomaly-mediated models. For each model, the range of allowed
by other experimental constraints, e.g. b --> s\gamma and the collider bounds
on superparticle masses, is obtained together with the corresponding parameter
region of the model. Gauge-mediated models with low messenger scale can give
any within the bound. In many other models, b -->
s\gamma favors smaller than either the value
() or the central value ().Comment: RevTeX, 29 pages, 14 eps figures, figure for deflected anomaly
mediation is corrected, reference adde
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