Artificial Intelligence

---

Multi-Objective Autonomous Braking System using Naturalistic Dataset (1904.07705v2)

Rafael Vasquez, Bilal Farooq

2019-04-15

A deep reinforcement learning based multi-objective autonomous braking system is presented. The design of the system is formulated in a continuous action space and seeks to maximize both pedestrian safety and perception as well as passenger comfort. The vehicle agent is trained against a large naturalistic dataset containing pedestrian road-crossing trials in which respondents walked across a road under various traffic conditions within an interactive virtual reality environment. The policy for brake control is learned through computer simulation using two reinforcement learning methods i.e. Proximal Policy Optimization and Deep Deterministic Policy Gradient and the efficiency of each are compared. Results show that the system is able to reduce the negative influence on passenger comfort by half while maintaining safe braking operation.

Model-free Training of End-to-end Communication Systems (1812.05929v3)

Fayçal Ait Aoudia, Jakob Hoydis

2018-12-14

The idea of end-to-end learning of communication systems through neural network-based autoencoders has the shortcoming that it requires a differentiable channel model. We present in this paper a novel learning algorithm which alleviates this problem. The algorithm enables training of communication systems with an unknown channel model or with non-differentiable components. It iterates between training of the receiver using the true gradient, and training of the transmitter using an approximation of the gradient. We show that this approach works as well as model-based training for a variety of channels and tasks. Moreover, we demonstrate the algorithm's practical viability through hardware implementation on software-defined radios where it achieves state-of-the-art performance over a coaxial cable and wireless channel.

Marginal Replay vs Conditional Replay for Continual Learning (1810.12069v6)

Timothée Lesort, Alexander Gepperth, Andrei Stoian, David Filliat

2018-10-29

We present a new replay-based method of continual classification learning that we term "conditional replay" which generates samples and labels together by sampling from a distribution conditioned on the class. We compare conditional replay to another replay-based continual learning paradigm (which we term "marginal replay") that generates samples independently of their class and assigns labels in a separate step. The main improvement in conditional replay is that labels for generated samples need not be inferred, which reduces the margin for error in complex continual classification learning tasks. We demonstrate the effectiveness of this approach using novel and standard benchmarks constructed from MNIST and FashionMNIST data, and compare to the regularization-based \textit{elastic weight consolidation} (EWC) method.

On Privacy Protection of Latent Dirichlet Allocation Model Training (1906.01178v2)

Fangyuan Zhao, Xuebin Ren, Shusen Yang, Xinyu Yang

2019-06-04

Latent Dirichlet Allocation (LDA) is a popular topic modeling technique for discovery of hidden semantic architecture of text datasets, and plays a fundamental role in many machine learning applications. However, like many other machine learning algorithms, the process of training a LDA model may leak the sensitive information of the training datasets and bring significant privacy risks. To mitigate the privacy issues in LDA, we focus on studying privacy-preserving algorithms of LDA model training in this paper. In particular, we first develop a privacy monitoring algorithm to investigate the privacy guarantee obtained from the inherent randomness of the Collapsed Gibbs Sampling (CGS) process in a typical LDA training algorithm on centralized curated datasets. Then, we further propose a locally private LDA training algorithm on crowdsourced data to provide local differential privacy for individual data contributors. The experimental results on real-world datasets demonstrate the effectiveness of our proposed algorithms.

Deep Reinforcement Learning for Unmanned Aerial Vehicle-Assisted Vehicular Networks (1906.05015v3)

Ming Zhu, Xiao-Yang Liu, Xiaodong Wang

2019-06-12

Unmanned aerial vehicles (UAVs) are envisioned to complement the 5G communication infrastructure in future smart cities. Hot spots easily appear in road intersections, where effective communication among vehicles is challenging. UAVs may serve as relays with the advantages of low price, easy deployment, line-of-sight links, and flexible mobility. In this paper, we study a UAV-assisted vehicular network where the UAV jointly adjusts its transmission power and bandwidth allocation under 3D flight to maximize the total throughput. First, we formulate a Markov Decision Process (MDP) problem by modeling the mobility of the UAV/vehicles and the state transitions. Secondly, we solve the target problem using a deep reinforcement learning method, namely, the deep deterministic policy gradient, and propose three solutions with different control objectives. Then we extend the proposed solutions considering of the energy consumption of 3D flight. Thirdly, in a simplified model with small state space and action space, we verify the optimality of proposed algorithms. Comparing with two baseline schemes, we demonstrate the effectiveness of proposed algorithms in a realistic model.

Variational Bayesian Reinforcement Learning with Regret Bounds (1807.09647v2)

Brendan O'Donoghue

2018-07-25

We consider the exploration-exploitation trade-off in reinforcement learning and we show that an agent imbued with an epistemic-risk-seeking utility function is able to explore efficiently, as measured by regret. The parameter that controls how risk-seeking the agent is can be optimized to minimize regret, or annealed according to a schedule. We call the resulting algorithm K-learning and we show that the K-values that the agent maintains are optimistic for the expected optimal Q-values at each state-action pair. The utility function approach induces a natural Boltzmann exploration policy for which the 'temperature' parameter is equal to the risk-seeking parameter. This policy achieves a Bayesian regret bound of , where L is the time horizon, S is the number of states, A is the number of actions, and T is the total number of elapsed time-steps. K-learning can be interpreted as mirror descent in the policy space, and it is similar to other well-known methods in the literature, including Q-learning, soft-Q-learning, and maximum entropy policy gradient. K-learning is simple to implement, as it only requires adding a bonus to the reward at each state-action and then solving a Bellman equation. We conclude with a numerical example demonstrating that K-learning is competitive with other state-of-the-art algorithms in practice.

Data Complexity and Rewritability of Ontology-Mediated Queries in Metric Temporal Logic under the Event-Based Semantics (Full Version) (1905.12990v2)

Vladislav Ryzhikov, Przemyslaw Andrzej Walega, Michael Zakharyaschev

2019-05-30

We investigate the data complexity of answering queries mediated by metric temporal logic ontologies under the event-based semantics assuming that data instances are finite timed words timestamped with binary fractions. We identify classes of ontology-mediated queries answering which can be done in AC0, NC1, L, NL, P, and coNP for data complexity, provide their rewritings to first-order logic and its extensions with primitive recursion, transitive closure or datalog, and establish lower complexity bounds.

A Biologically Plausible Supervised Learning Method for Spiking Neural Networks Using the Symmetric STDP Rule (1812.06574v2)

Yunzhe Hao, Xuhui Huang, Meng Dong, Bo Xu

2018-12-17

Spiking neural networks (SNNs) possess energy-efficient potential due to event-based computation. However, supervised training of SNNs remains a challenge as spike activities are non-differentiable. Previous SNNs training methods can be generally categorized into two basic classes, i.e., backpropagation-like training methods and plasticity-based learning methods. The former methods are dependent on energy-inefficient real-valued computation and non-local transmission, as also required in artificial neural networks (ANNs), whereas the latter are either considered to be biologically implausible or exhibit poor performance. Hence, biologically plausible (bio-plausible) high-performance supervised learning (SL) methods for SNNs remain deficient. In this paper, we proposed a novel bio-plausible SNN model for SL based on the symmetric spike-timing dependent plasticity (sym-STDP) rule found in neuroscience. By combining the sym-STDP rule with bio-plausible synaptic scaling and intrinsic plasticity of the dynamic threshold, our SNN model implemented SL well and achieved good performance in the benchmark recognition task (MNIST dataset). To reveal the underlying mechanism of our SL model, we visualized both layer-based activities and synaptic weights using the t-distributed stochastic neighbor embedding (t-SNE) method after training and found that they were well clustered, thereby demonstrating excellent classification ability. Furthermore, to verify the robustness of our model, we trained it on another more realistic dataset (Fashion-MNIST), which also showed good performance. As the learning rules were bio-plausible and based purely on local spike events, our model could be easily applied to neuromorphic hardware for online training and may be helpful for understanding SL information processing at the synaptic level in biological neural systems.

GenAttack: Practical Black-box Attacks with Gradient-Free Optimization (1805.11090v3)

Moustafa Alzantot, Yash Sharma, Supriyo Chakraborty, Huan Zhang, Cho-Jui Hsieh, Mani Srivastava

2018-05-28

Deep neural networks are vulnerable to adversarial examples, even in the black-box setting, where the attacker is restricted solely to query access. Existing black-box approaches to generating adversarial examples typically require a significant number of queries, either for training a substitute network or performing gradient estimation. We introduce GenAttack, a gradient-free optimization technique that uses genetic algorithms for synthesizing adversarial examples in the black-box setting. Our experiments on different datasets (MNIST, CIFAR-10, and ImageNet) show that GenAttack can successfully generate visually imperceptible adversarial examples against state-of-the-art image recognition models with orders of magnitude fewer queries than previous approaches. Against MNIST and CIFAR-10 models, GenAttack required roughly 2,126 and 2,568 times fewer queries respectively, than ZOO, the prior state-of-the-art black-box attack. In order to scale up the attack to large-scale high-dimensional ImageNet models, we perform a series of optimizations that further improve the query efficiency of our attack leading to 237 times fewer queries against the Inception-v3 model than ZOO. Furthermore, we show that GenAttack can successfully attack some state-of-the-art ImageNet defenses, including ensemble adversarial training and non-differentiable or randomized input transformations. Our results suggest that evolutionary algorithms open up a promising area of research into effective black-box attacks.

Generating and Sampling Orbits for Lifted Probabilistic Inference (1903.04672v3)

Steven Holtzen, Todd Millstein, Guy Van den Broeck

2019-03-12

A key goal in the design of probabilistic inference algorithms is identifying and exploiting properties of the distribution that make inference tractable. Lifted inference algorithms identify symmetry as a property that enables efficient inference and seek to scale with the degree of symmetry of a probability model. A limitation of existing exact lifted inference techniques is that they do not apply to non-relational representations like factor graphs. In this work we provide the first example of an exact lifted inference algorithm for arbitrary discrete factor graphs. In addition we describe a lifted Markov-Chain Monte-Carlo algorithm that provably mixes rapidly in the degree of symmetry of the distribution.

---