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Register a new userAugmenting learning using symmetry in a biologically-inspired domain
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Added by
Shruti Mishra
Publication date
2019
fields
Informatics Engineering
and research's language is
English
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Invariances to translation, rotation and other spatial transformations are a hallmark of the laws of motion, and have widespread use in the natural sciences to reduce the dimensionality of systems of equations. In supervised learning, such as in image classification tasks, rotation, translation and scale invariances are used to augment training datasets. In this work, we use data augmentation in a similar way, exploiting symmetry in the quadruped domain of the DeepMind control suite (Tassa et al. 2018) to add to the trajectories experienced by the actor in the actor-critic algorithm of Abdolmaleki et al. (2018). In a data-limited regime, the agent using a set of experiences augmented through symmetry is able to learn faster. Our approach can be used to inject knowledge of invariances in the domain and task to augment learning in robots, and more generally, to speed up learning in realistic robotics applications.
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A convolutional neural network strongly robust to adversarial perturbations at reasonable computational and performance cost has not yet been demonstrated. The primate visual ventral stream seems to be robust to small perturbations in visual stimuli but the underlying mechanisms that give rise to this robust perception are not understood. In this work, we investigate the role of two biologically plausible mechanisms in adversarial robustness. We demonstrate that the non-uniform sampling performed by the primate retina and the presence of multiple receptive fields with a range of receptive field sizes at each eccentricity improve the robustness of neural networks to small adversarial perturbations. We verify that these two mechanisms do not suffer from gradient obfuscation and study their contribution to adversarial robustness through ablation studies.
Humans are efficient continual learning systems; we continually learn new skills from birth with finite cells and resources. Our learning is highly optimized both in terms of capacity and time while not suffering from catastrophic forgetting. In this work we study the efficiency of continual learning systems, taking inspiration from human learning. In particular, inspired by the mechanisms of sleep, we evaluate popular pruning-based continual learning algorithms, using PackNet as a case study. First, we identify that weight freezing, which is used in continual learning without biological justification, can result in over $2times$ as many weights being used for a given level of performance. Secondly, we note the similarity in human day and night time behaviors to the training and pruning phases respectively of PackNet. We study a setting where the pruning phase is given a time budget, and identify connections between iterative pruning and multiple sleep cycles in humans. We show there exists an optimal choice of iteration v.s. epochs given different tasks.
Humans can abstract prior knowledge from very little data and use it to boost skill learning. In this paper, we propose routine-augmented policy learning (RAPL), which discovers routines composed of primitive actions from a single demonstration and uses discovered routines to augment policy learning. To discover routines from the demonstration, we first abstract routine candidates by identifying grammar over the demonstrated action trajectory. Then, the best routines measured by length and frequency are selected to form a routine library. We propose to learn policy simultaneously at primitive-level and routine-level with discovered routines, leveraging the temporal structure of routines. Our approach enables imitating expert behavior at multiple temporal scales for imitation learning and promotes reinforcement learning exploration. Extensive experiments on Atari games demonstrate that RAPL improves the state-of-the-art imitation learning method SQIL and reinforcement learning method A2C. Further, we show that discovered routines can generalize to unseen levels and difficulties on the CoinRun benchmark.
Most of the Zero-Shot Learning (ZSL) algorithms currently use pre-trained models as their feature extractors, which are usually trained on the ImageNet data set by using deep neural networks. The richness of the feature information embedded in the pre-trained models can help the ZSL model extract more useful features from its limited training samples. However, sometimes the difference between the training data set of the current ZSL task and the ImageNet data set is too large, which may lead to the use of pre-trained models has no obvious help or even negative impact on the performance of the ZSL model. To solve this problem, this paper proposes a biologically inspired feature enhancement framework for ZSL. Specifically, we design a dual-channel learning framework that uses auxiliary data sets to enhance the feature extractor of the ZSL model and propose a novel method to guide the selection of the auxiliary data sets based on the knowledge of biological taxonomy. Extensive experimental results show that our proposed method can effectively improve the generalization ability of the ZSL model and achieve state-of-the-art results on three benchmark ZSL tasks. We also explained the experimental phenomena through the way of feature visualization.
The understanding of the nanoscale physical properties of biomolecules and biomaterials will ultimately promote the research in the biological sciences. In this review, we focused on theory, simulation, and experiments involving nanoscale materials inspired by biological systems. Specifically, self-assembly in living and synthetic materials, bio-functionalized nanomaterials and probing techniques that use nanomaterials are discussed.
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