Improvements to context based self-supervised learning

We develop a set of methods to improve on the results of self-supervised learning using context. We start with a baseline of patch based arrangement context learning and go from there. Our methods address some overt problems such as chromatic aberration as well as other potential problems such as spatial skew and mid-level feature neglect. We prevent problems with testing generalization on common self-supervised benchmark tests by using different datasets during our development. The results of our methods combined yield top scores on all standard self-supervised benchmarks, including classification and detection on PASCAL VOC 2007, segmentation on PASCAL VOC 2012, and "linear tests" on the ImageNet and CSAIL Places datasets. We obtain an improvement over our baseline method of between 4.0 to 7.1 percentage points on transfer learning classification tests. We also show results on different standard network architectures to demonstrate generalization as well as portability. All data, models and programs are available at: https://gdo-datasci.llnl.gov/selfsupervised/.Comment: Accepted paper at CVPR 201

A bottom–up model of spatial attention predicts human error patterns in rapid scene recognition

Humans demonstrate a peculiar ability to detect complex targets in rapidly presented natural scenes. Recent studies suggest that (nearly) no focal attention is required for overall performance in such tasks. Little is known, however, of how detection performance varies from trial to trial and which stages in the processing hierarchy limit performance: bottom–up visual processing (attentional selection and/or recognition) or top–down factors (e.g., decision-making, memory, or alertness fluctuations)? To investigate the relative contribution of these factors, eight human observers performed an animal detection task in natural scenes presented at 20 Hz. Trial-by-trial performance was highly consistent across observers, far exceeding the prediction of independent errors. This consistency demonstrates that performance is not primarily limited by idiosyncratic factors but by visual processing. Two statistical stimulus properties, contrast variation in the target image and the information-theoretical measure of “surprise” in adjacent images, predict performance on a trial-by-trial basis. These measures are tightly related to spatial attention, demonstrating that spatial attention and rapid target detection share common mechanisms. To isolate the causal contribution of the surprise measure, eight additional observers performed the animal detection task in sequences that were reordered versions of those all subjects had correctly recognized in the first experiment. Reordering increased surprise before and/or after the target while keeping the target and distractors themselves unchanged. Surprise enhancement impaired target detection in all observers. Consequently, and contrary to several previously published findings, our results demonstrate that attentional limitations, rather than target recognition alone, affect the detection of targets in rapidly presented visual sequences

Deep symbolic regression: Recovering mathematical expressions from data via risk-seeking policy gradients

Discovering the underlying mathematical expressions describing a dataset is a core challenge for artificial intelligence. This is the problem of $\textit{symbolic regression}$. Despite recent advances in training neural networks to solve complex tasks, deep learning approaches to symbolic regression are underexplored. We propose a framework that leverages deep learning for symbolic regression via a simple idea: use a large model to search the space of small models. Specifically, we use a recurrent neural network to emit a distribution over tractable mathematical expressions and employ a novel risk-seeking policy gradient to train the network to generate better-fitting expressions. Our algorithm outperforms several baseline methods (including Eureqa, the gold standard for symbolic regression) in its ability to exactly recover symbolic expressions on a series of benchmark problems, both with and without added noise. More broadly, our contributions include a framework that can be applied to optimize hierarchical, variable-length objects under a black-box performance metric, with the ability to incorporate constraints in situ, and a risk-seeking policy gradient formulation that optimizes for best-case performance instead of expected performance.Comment: Published at International Conference on Learning Representations, 202

Improving exploration in policy gradient search: Application to symbolic optimization

Many machine learning strategies designed to automate mathematical tasks leverage neural networks to search large combinatorial spaces of mathematical symbols. In contrast to traditional evolutionary approaches, using a neural network at the core of the search allows learning higher-level symbolic patterns, providing an informed direction to guide the search. When no labeled data is available, such networks can still be trained using reinforcement learning. However, we demonstrate that this approach can suffer from an early commitment phenomenon and from initialization bias, both of which limit exploration. We present two exploration methods to tackle these issues, building upon ideas of entropy regularization and distribution initialization. We show that these techniques can improve the performance, increase sample efficiency, and lower the complexity of solutions for the task of symbolic regression.Comment: Published in 1st Mathematical Reasoning in General Artificial Intelligence Workshop, ICLR 202

Low cost, high performance robot design utilizing off-the-shelf parts and the Beowulf concept, The Beobot project

©2003 SPIE--The International Society for Optical Engineering. One print or electronic copy may be made for personal use only. Systematic reproduction and distribution, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper are prohibited. The electronic version of this article is the complete one and can be found online at: http://dx.doi.org/10.1117/12.515180Presented at Intelligent Robots and Computer Vision XXI: Algorithms, Techniques, and Active Vision, 28 October 2003, Providence, RI, USADOI: 10.1117/12.515180Utilizing off the shelf low cost parts, we have constructed a robot that is small, light, powerful and relatively inexpensive (< $3900). The system is constructed around the Beowulf concept of linking multiple discrete computing units into a single cooperative system. The goal of this project is to demonstrate a new robotics platform with sufficient computing resources to run biologically-inspired vision algorithms in real-time. This is accomplished by connecting two dual-CPU embedded PC motherboards using fast gigabit Ethernet. The motherboards contain integrated Firewire, USB and serial connections to handle camera, servomotor, GPS and other miscellaneous inputs/outputs. Computing systems are mounted on a servomechanism-controlled off-the-shelf “Off Road” RC car. Using the high performance characteristics of the car, the robot can attain relatively high speeds outdoors. The robot is used as a test platform for biologically-inspired as well as traditional robotic algorithms, in outdoor navigation and exploration activities. Leader following using multi blob tracking and segmentation, and navigation using statistical information and decision inference from image spectral information are discussed. The design of the robot is opensource and is constructed in a manner that enhances ease of replication. This is done to facilitate construction and development of mobile robots at research institutions where large financial resources may not be readily available as well as to put robots into the hands of hobbyists and help lead to the next stage in the evolution of robotics, a home hobby robot with potential real world applications

Computational modeling and exploration of contour integration for visual saliency

We propose a computational model of contour integration for visual saliency. The model uses biologically plausible devices to simulate how the representations of elements aligned collinearly along a contour in an image are enhanced. Our model adds such devices as a dopamine-like fast plasticity, local GABAergic inhibition and multi-scale processing of images. The fast plasticity addresses the problem of how neurons in visual cortex seem to be able to influence neurons they are not directly connected to, for instance, as observed in contour closure effect. Local GABAergic inhibition is used to control gain in the system without using global mechanisms which may be non-plausible given the limited reach of axonal arbors in visual cortex. The model is then used to explore not only its validity in real and artificial images, but to discover some of the mechanisms involved in processing of complex visual features such as junctions and end-stops as well as contours. We present evidence for the validity of our model in several phases, starting with local enhancement of only a few collinear elements.We then test our model on more complex contour integration images with a large number of Gabor elements. Sections of the model are also extracted and used to discover how the model might relate contour integration neurons to neurons that process end-stops and junctions. Finally, we present results from real world images. Results from the model suggest that it is a good current approximation of contour integration in human vision. As well, it suggests that contour integration mechanisms may be strongly related to mechanisms for detecting end-stops and junction points. Additionally, a contour integration mechanism may be involved in finding features for objects such as faces. This sugg..