Kervolutional Neural Networks

Convolutional neural networks (CNNs) have enabled the state-of-the-art performance in many computer vision tasks. However, little effort has been devoted to establishing convolution in non-linear space. Existing works mainly leverage on the activation layers, which can only provide point-wise non-linearity. To solve this problem, a new operation, kervolution (kernel convolution), is introduced to approximate complex behaviors of human perception systems leveraging on the kernel trick. It generalizes convolution, enhances the model capacity, and captures higher order interactions of features, via patch-wise kernel functions, but without introducing additional parameters. Extensive experiments show that kervolutional neural networks (KNN) achieve higher accuracy and faster convergence than baseline CNN.Comment: oral paper in CVPR 201

Cooperative Pursuit with Multi-Pursuer and One Faster Free-moving Evader

This paper addresses a multi-pursuer single-evader pursuit-evasion game where the free-moving evader moves faster than the pursuers. Most of the existing works impose constraints on the faster evader such as limited moving area and moving direction. When the faster evader is allowed to move freely without any constraint, the main issues are how to form an encirclement to trap the evader into the capture domain, how to balance between forming an encirclement and approaching the faster evader, and what conditions make the capture possible. In this paper, a distributed pursuit algorithm is proposed to enable pursuers to form an encirclement and approach the faster evader. An algorithm that balances between forming an encirclement and approaching the faster evader is proposed. Moreover, sufficient capture conditions are derived based on the initial spatial distribution and the speed ratios of the pursuers and the evader. Simulation and experimental results on ground robots validate the effectiveness and practicability of the proposed method

Measuring the universal synchronization properties of coupled oscillators across the Hopf instability

When a driven oscillator loses phase-locking to a master oscillator via a Hopf bifurcation, it enters a bounded-phase regime in which its average frequency is still equal to the master frequency, but its phase displays temporal oscillations. Here we characterize these two synchronization regimes in a laser experiment, by measuring the spectrum of the phase fluctuations across the bifurcation. We find experimentally, and confirm numerically, that the low frequency phase noise of the driven oscillator is strongly suppressed in both regimes in the same way. Thus the long-term phase stability of the master oscillator is transferred to the driven one, even in the absence of phase-locking. The numerical study of a generic, minimal model suggests that such behavior is universal for any periodically driven oscillator near a Hopf bifurcation point.Comment: 5 pages, 5 figure