Machine Learning
Event-based Vision: A Survey (1904.08405v1)
Guillermo Gallego, Tobi Delbruck, Garrick Orchard, Chiara Bartolozzi, Brian Taba, Andrea Censi, Stefan Leutenegger, Andrew Davison, Joerg Conradt, Kostas Daniilidis, Davide Scaramuzza
2019-04-17
Event cameras are bio-inspired sensors that work radically different from traditional cameras. Instead of capturing images at a fixed rate, they measure per-pixel brightness changes asynchronously. This results in a stream of events, which encode the time, location and sign of the brightness changes. Event cameras posses outstanding properties compared to traditional cameras: very high dynamic range (140 dB vs. 60 dB), high temporal resolution (in the order of microseconds), low power consumption, and do not suffer from motion blur. Hence, event cameras have a large potential for robotics and computer vision in challenging scenarios for traditional cameras, such as high speed and high dynamic range. However, novel methods are required to process the unconventional output of these sensors in order to unlock their potential. This paper provides a comprehensive overview of the emerging field of event-based vision, with a focus on the applications and the algorithms developed to unlock the outstanding properties of event cameras. We present event cameras from their working principle, the actual sensors that are available and the tasks that they have been used for, from low-level vision (feature detection and tracking, optic flow, etc.) to high-level vision (reconstruction, segmentation, recognition). We also discuss the techniques developed to process events, including learning-based techniques, as well as specialized processors for these novel sensors, such as spiking neural networks. Additionally, we highlight the challenges that remain to be tackled and the opportunities that lie ahead in the search for a more efficient, bio-inspired way for machines to perceive and interact with the world.
SACOBRA with Online Whitening for Solving Optimization Problems with High Conditioning (1904.08397v1)
Samineh Bagheri, Wolfgang Konen, Thomas Bäck
2019-04-17
Real-world optimization problems often have expensive objective functions in terms of cost and time. It is desirable to find near-optimal solutions with very few function evaluations. Surrogate-assisted optimizers tend to reduce the required number of function evaluations by replacing the real function with an efficient mathematical model built on few evaluated points. Problems with a high condition number are a challenge for many surrogate-assisted optimizers including SACOBRA. To address such problems we propose a new online whitening operating in the black-box optimization paradigm. We show on a set of high-conditioning functions that online whitening tackles SACOBRA's early stagnation issue and reduces the optimization error by a factor between 10 to 1e12 as compared to the plain SACOBRA, though it imposes many extra function evaluations. Covariance matrix adaptation evolution strategy (CMA-ES) has for very high numbers of function evaluations even lower errors, whereas SACOBRA performs better in the expensive setting (less than 1e03 function evaluations). If we count all parallelizable function evaluations (population evaluation in CMA-ES, online whitening in our approach) as one iteration, then both algorithms have comparable strength even on the long run. This holds for problems with dimension D <= 20.
Casting Light on Invisible Cities: Computationally Engaging with Literary Criticism (1904.08386v1)
Shufan Wang, Mohit Iyyer
2019-04-17
Literary critics often attempt to uncover meaning in a single work of literature through careful reading and analysis. Applying natural language processing methods to aid in such literary analyses remains a challenge in digital humanities. While most previous work focuses on "distant reading" by algorithmically discovering high-level patterns from large collections of literary works, here we sharpen the focus of our methods to a single literary theory about Italo Calvino's postmodern novel Invisible Cities, which consists of 55 short descriptions of imaginary cities. Calvino has provided a classification of these cities into eleven thematic groups, but literary scholars disagree as to how trustworthy his categorization is. Due to the unique structure of this novel, we can computationally weigh in on this debate: we leverage pretrained contextualized representations to embed each city's description and use unsupervised methods to cluster these embeddings. Additionally, we compare results of our computational approach to similarity judgments generated by human readers. Our work is a first step towards incorporating natural language processing into literary criticism.
Deep Node Ranking: Structural Network Embedding and End-to-End Node Classification (1902.03964v3)
Blaž Škrlj, Jan Kralj, Janez Konc, Marko Robnik-Šikonja, Nada Lavrač
2019-02-11
Complex networks are used as an abstraction for systems modeling in physics, biology, sociology, and other areas. We propose an algorithm, named Deep Node Ranking (DNR), based on fast personalized node ranking and raw approximation power of deep learning for learning supervised and unsupervised network embeddings as well as for classifying network nodes directly. The experiments demonstrate that the DNR algorithm is competitive with strong baselines on nine node classification benchmarks from the domains of molecular biology, finance, social media and language processing in terms of speed, as well as predictive accuracy. Embeddings, obtained by the proposed algorithm, are also a viable option for network visualization.
Vid2Game: Controllable Characters Extracted from Real-World Videos (1904.08379v1)
Oran Gafni, Lior Wolf, Yaniv Taigman
2019-04-17
We are given a video of a person performing a certain activity, from which we extract a controllable model. The model generates novel image sequences of that person, according to arbitrary user-defined control signals, typically marking the displacement of the moving body. The generated video can have an arbitrary background, and effectively capture both the dynamics and appearance of the person. The method is based on two networks. The first network maps a current pose, and a single-instance control signal to the next pose. The second network maps the current pose, the new pose, and a given background, to an output frame. Both networks include multiple novelties that enable high-quality performance. This is demonstrated on multiple characters extracted from various videos of dancers and athletes.
Dynamic Evaluation of Transformer Language Models (1904.08378v1)
Ben Krause, Emmanuel Kahembwe, Iain Murray, Steve Renals
2019-04-17
This research note combines two methods that have recently improved the state of the art in language modeling: Transformers and dynamic evaluation. Transformers use stacked layers of self-attention that allow them to capture long range dependencies in sequential data. Dynamic evaluation fits models to the recent sequence history, allowing them to assign higher probabilities to re-occurring sequential patterns. By applying dynamic evaluation to Transformer-XL models, we improve the state of the art on enwik8 from 0.99 to 0.94 bits/char, text8 from 1.08 to 1.04 bits/char, and WikiText-103 from 18.3 to 16.4 perplexity points.
SGD: General Analysis and Improved Rates (1901.09401v3)
Robert Mansel Gower, Nicolas Loizou, Xun Qian, Alibek Sailanbayev, Egor Shulgin, Peter Richtarik
2019-01-27
We propose a general yet simple theorem describing the convergence of SGD under the arbitrary sampling paradigm. Our theorem describes the convergence of an infinite array of variants of SGD, each of which is associated with a specific probability law governing the data selection rule used to form mini-batches. This is the first time such an analysis is performed, and most of our variants of SGD were never explicitly considered in the literature before. Our analysis relies on the recently introduced notion of expected smoothness and does not rely on a uniform bound on the variance of the stochastic gradients. By specializing our theorem to different mini-batching strategies, such as sampling with replacement and independent sampling, we derive exact expressions for the stepsize as a function of the mini-batch size. With this we can also determine the mini-batch size that optimizes the total complexity, and show explicitly that as the variance of the stochastic gradient evaluated at the minimum grows, so does the optimal mini-batch size. For zero variance, the optimal mini-batch size is one. Moreover, we prove insightful stepsize-switching rules which describe when one should switch from a constant to a decreasing stepsize regime.
Document Expansion by Query Prediction (1904.08375v1)
Rodrigo Nogueira, Wei Yang, Jimmy Lin, Kyunghyun Cho
2019-04-17
One technique to improve the retrieval effectiveness of a search engine is to expand documents with terms that are related or representative of the documents' content. From the perspective of a question answering system, a useful representation of a document might comprise the questions it can potentially answer. Following this observation, we propose a simple method that predicts which queries will be issued for a given document and then expands it with those predictions. Our predictions are made with a vanilla sequence-to-sequence model trained with supervised learning using a dataset of pairs of query and relevant documents. By combining our method with a highly-effective re-ranking component, we achieve the state of the art in two retrieval tasks. In a latency-critical regime, retrieval results alone (without the re-ranking component) approach the effectiveness of more computationally expensive neural re-rankers while taking only a fraction of the query latency.
Relay: A High-Level IR for Deep Learning (1904.08368v1)
Jared Roesch, Steven Lyubomirsky, Marisa Kirisame, Josh Pollock, Logan Weber, Ziheng Jiang, Tianqi Chen, Thierry Moreau, Zachary Tatlock
2019-04-17
Frameworks for writing, compiling, and optimizing deep learning (DL) models have recently enabled progress in areas like computer vision and natural language processing. Extending these frameworks to accommodate the rapidly diversifying landscape of DL models and hardware platforms presents challenging tradeoffs between expressiveness, composability, and portability. We present Relay, a new intermediate representation (IR) and compiler framework for DL models. The functional, statically-typed Relay IR unifies and generalizes existing DL IRs and can express state-of-the-art models. Relay's expressive IR required careful design of the type system, automatic differentiation, and optimizations. Relay's extensible compiler can eliminate abstraction overhead and target new hardware platforms. The design insights from Relay can be applied to existing frameworks to develop IRs that support extension without compromising on expressivity, composibility, and portability. Our evaluation demonstrates that the Relay prototype can already provide competitive performance for a broad class of models running on CPUs, GPUs, and FPGAs.
Decoupled Data Based Approach for Learning to Control Nonlinear Dynamical Systems (1904.08361v1)
Ran Wang, Karthikeya Parunandi, Dan Yu, Dileep Kalathil, Suman Chakravorty
2019-04-17
This paper addresses the problem of learning the optimal control policy for a nonlinear stochastic dynamical system with continuous state space, continuous action space and unknown dynamics. This class of problems are typically addressed in stochastic adaptive control and reinforcement learning literature using model-based and model-free approaches respectively. Both methods rely on solving a dynamic programming problem, either directly or indirectly, for finding the optimal closed loop control policy. The inherent
curse of dimensionality' associated with dynamic programming method makes these approaches also computationally difficult. This paper proposes a novel decoupled data-based control (D2C) algorithm that addresses this problem using a decoupled,open loop - closed loop', approach. First, an open-loop deterministic trajectory optimization problem is solved using a black-box simulation model of the dynamical system. Then, a closed loop control is developed around this open loop trajectory by linearization of the dynamics about this nominal trajectory. By virtue of linearization, a linear quadratic regulator based algorithm can be used for this closed loop control. We show that the performance of D2C algorithm is approximately optimal. Moreover, simulation performance suggests significant reduction in training time compared to other state of the art algorithms.