The problem of path planning has been studied for years. Classic planning pipelines, including perception, mapping, and path searching, can result in latency and compounding errors between modules. While recent studies have demonstrated the effectiveness of end-to-end learning methods in achieving high planning efficiency, these methods often struggle to match the generalization abilities of classic approaches in handling different environments. Moreover, end-to-end training of policies often requires a large number of labeled data or training iterations to reach convergence. In this paper, we present a novel Imperative Learning (IL) approach. This approach leverages a differentiable cost map to provide implicit supervision during policy training, eliminating the need for demonstrations or labeled trajectories. Furthermore, the policy training adopts a Bi-Level Optimization (BLO) process, which combines network update and metric-based trajectory optimization, to generate a smooth and collision-free path toward the goal based on a single depth measurement. The proposed method allows task-level costs of predicted trajectories to be backpropagated through all components to update the network through direct gradient descent. In our experiments, the method demonstrates around 4x faster planning than the classic approach and robustness against localization noise. Additionally, the IL approach enables the planner to generalize to various unseen environments, resulting in an overall 26-87% improvement in SPL performance compared to baseline learning methods.
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Graph Neural Networks (GNNs) have been successfully used in many problems involving graph-structured data, achieving state-of-the-art performance. GNNs typically employ a message-passing scheme, in which every node aggregates information from its neighbors using a permutation-invariant aggregation function. Standard well-examined choices such as the mean or sum aggregation functions have limited capabilities, as they are not able to capture interactions among neighbors. In this work, we formalize these interactions using an information-theoretic framework that notably includes synergistic information. Driven by this definition, we introduce the Graph Ordering Attention (GOAT) layer, a novel GNN component that captures interactions between nodes in a neighborhood. This is achieved by learning local node orderings via an attention mechanism and processing the ordered representations using a recurrent neural network aggregator. This design allows us to make use of a permutation-sensitive aggregator while maintaining the permutation-equivariance of the proposed GOAT layer. The GOAT model demonstrates its increased performance in modeling graph metrics that capture complex information, such as the betweenness centrality and the effective size of a node. In practical use-cases, its superior modeling capability is confirmed through its success in several real-world node classification benchmarks.
Clustering is a fundamental machine learning task which has been widely studied in the literature. Classic clustering methods follow the assumption that data are represented as features in a vectorized form through various representation learning techniques. As the data become increasingly complicated and complex, the shallow (traditional) clustering methods can no longer handle the high-dimensional data type. With the huge success of deep learning, especially the deep unsupervised learning, many representation learning techniques with deep architectures have been proposed in the past decade. Recently, the concept of Deep Clustering, i.e., jointly optimizing the representation learning and clustering, has been proposed and hence attracted growing attention in the community. Motivated by the tremendous success of deep learning in clustering, one of the most fundamental machine learning tasks, and the large number of recent advances in this direction, in this paper we conduct a comprehensive survey on deep clustering by proposing a new taxonomy of different state-of-the-art approaches. We summarize the essential components of deep clustering and categorize existing methods by the ways they design interactions between deep representation learning and clustering. Moreover, this survey also provides the popular benchmark datasets, evaluation metrics and open-source implementations to clearly illustrate various experimental settings. Last but not least, we discuss the practical applications of deep clustering and suggest challenging topics deserving further investigations as future directions.
Multi-object tracking (MOT) is a crucial component of situational awareness in military defense applications. With the growing use of unmanned aerial systems (UASs), MOT methods for aerial surveillance is in high demand. Application of MOT in UAS presents specific challenges such as moving sensor, changing zoom levels, dynamic background, illumination changes, obscurations and small objects. In this work, we present a robust object tracking architecture aimed to accommodate for the noise in real-time situations. We propose a kinematic prediction model, called Deep Extended Kalman Filter (DeepEKF), in which a sequence-to-sequence architecture is used to predict entity trajectories in latent space. DeepEKF utilizes a learned image embedding along with an attention mechanism trained to weight the importance of areas in an image to predict future states. For the visual scoring, we experiment with different similarity measures to calculate distance based on entity appearances, including a convolutional neural network (CNN) encoder, pre-trained using Siamese networks. In initial evaluation experiments, we show that our method, combining scoring structure of the kinematic and visual models within a MHT framework, has improved performance especially in edge cases where entity motion is unpredictable, or the data presents frames with significant gaps.
It has been shown that deep neural networks are prone to overfitting on biased training data. Towards addressing this issue, meta-learning employs a meta model for correcting the training bias. Despite the promising performances, super slow training is currently the bottleneck in the meta learning approaches. In this paper, we introduce a novel Faster Meta Update Strategy (FaMUS) to replace the most expensive step in the meta gradient computation with a faster layer-wise approximation. We empirically find that FaMUS yields not only a reasonably accurate but also a low-variance approximation of the meta gradient. We conduct extensive experiments to verify the proposed method on two tasks. We show our method is able to save two-thirds of the training time while still maintaining the comparable or achieving even better generalization performance. In particular, our method achieves the state-of-the-art performance on both synthetic and realistic noisy labels, and obtains promising performance on long-tailed recognition on standard benchmarks.
Convolutional neural networks (CNNs) have shown dramatic improvements in single image super-resolution (SISR) by using large-scale external samples. Despite their remarkable performance based on the external dataset, they cannot exploit internal information within a specific image. Another problem is that they are applicable only to the specific condition of data that they are supervised. For instance, the low-resolution (LR) image should be a "bicubic" downsampled noise-free image from a high-resolution (HR) one. To address both issues, zero-shot super-resolution (ZSSR) has been proposed for flexible internal learning. However, they require thousands of gradient updates, i.e., long inference time. In this paper, we present Meta-Transfer Learning for Zero-Shot Super-Resolution (MZSR), which leverages ZSSR. Precisely, it is based on finding a generic initial parameter that is suitable for internal learning. Thus, we can exploit both external and internal information, where one single gradient update can yield quite considerable results. (See Figure 1). With our method, the network can quickly adapt to a given image condition. In this respect, our method can be applied to a large spectrum of image conditions within a fast adaptation process.
A Survey of Reinforcement Learning Techniques: Strategies, Recent Development, and Future Directions
Reinforcement learning is one of the core components in designing an artificial intelligent system emphasizing real-time response. Reinforcement learning influences the system to take actions within an arbitrary environment either having previous knowledge about the environment model or not. In this paper, we present a comprehensive study on Reinforcement Learning focusing on various dimensions including challenges, the recent development of different state-of-the-art techniques, and future directions. The fundamental objective of this paper is to provide a framework for the presentation of available methods of reinforcement learning that is informative enough and simple to follow for the new researchers and academics in this domain considering the latest concerns. First, we illustrated the core techniques of reinforcement learning in an easily understandable and comparable way. Finally, we analyzed and depicted the recent developments in reinforcement learning approaches. My analysis pointed out that most of the models focused on tuning policy values rather than tuning other things in a particular state of reasoning.
A core capability of intelligent systems is the ability to quickly learn new tasks by drawing on prior experience. Gradient (or optimization) based meta-learning has recently emerged as an effective approach for few-shot learning. In this formulation, meta-parameters are learned in the outer loop, while task-specific models are learned in the inner-loop, by using only a small amount of data from the current task. A key challenge in scaling these approaches is the need to differentiate through the inner loop learning process, which can impose considerable computational and memory burdens. By drawing upon implicit differentiation, we develop the implicit MAML algorithm, which depends only on the solution to the inner level optimization and not the path taken by the inner loop optimizer. This effectively decouples the meta-gradient computation from the choice of inner loop optimizer. As a result, our approach is agnostic to the choice of inner loop optimizer and can gracefully handle many gradient steps without vanishing gradients or memory constraints. Theoretically, we prove that implicit MAML can compute accurate meta-gradients with a memory footprint that is, up to small constant factors, no more than that which is required to compute a single inner loop gradient and at no overall increase in the total computational cost. Experimentally, we show that these benefits of implicit MAML translate into empirical gains on few-shot image recognition benchmarks.
Sufficient training data is normally required to train deeply learned models. However, the number of pedestrian images per ID in person re-identification (re-ID) datasets is usually limited, since manually annotations are required for multiple camera views. To produce more data for training deeply learned models, generative adversarial network (GAN) can be leveraged to generate samples for person re-ID. However, the samples generated by vanilla GAN usually do not have labels. So in this paper, we propose a virtual label called Multi-pseudo Regularized Label (MpRL) and assign it to the generated images. With MpRL, the generated samples will be used as supplementary of real training data to train a deep model in a semi-supervised learning fashion. Considering data bias between generated and real samples, MpRL utilizes different contributions from predefined training classes. The contribution-based virtual labels are automatically assigned to generated samples to reduce ambiguous prediction in training. Meanwhile, MpRL only relies on predefined training classes without using extra classes. Furthermore, to reduce over-fitting, a regularized manner is applied to MpRL to regularize the learning process. To verify the effectiveness of MpRL, two state-of-the-art convolutional neural networks (CNNs) are adopted in our experiments. Experiments demonstrate that by assigning MpRL to generated samples, we can further improve the person re-ID performance on three datasets i.e., Market-1501, DukeMTMCreID, and CUHK03. The proposed method obtains +6.29%, +6.30% and +5.58% improvements in rank-1 accuracy over a strong CNN baseline respectively, and outperforms the state-of-the- art methods.
Most previous event extraction studies have relied heavily on features derived from annotated event mentions, thus cannot be applied to new event types without annotation effort. In this work, we take a fresh look at event extraction and model it as a grounding problem. We design a transferable neural architecture, mapping event mentions and types jointly into a shared semantic space using structural and compositional neural networks, where the type of each event mention can be determined by the closest of all candidate types . By leveraging (1)~available manual annotations for a small set of existing event types and (2)~existing event ontologies, our framework applies to new event types without requiring additional annotation. Experiments on both existing event types (e.g., ACE, ERE) and new event types (e.g., FrameNet) demonstrate the effectiveness of our approach. \textit{Without any manual annotations} for 23 new event types, our zero-shot framework achieved performance comparable to a state-of-the-art supervised model which is trained from the annotations of 500 event mentions.
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