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  • Decentralized Multi-Robot Exploration with Sparse Communication through Deep Imitation Learning

    Creator:
    Senewiratne, Yomal K.
    Abstract:
    We present a method for decentralized, multi-robot exploration in adverse environments where communication is minimal. A key conceptual feature of our method is enabling implicit coordination between robots by training a Convolutional Neural Network (CNN) as a heuristic for planning using Monte Carlo Tree Search (MCTS). Our method consists of...
    Resource Type:
    Masters Thesis
    Full Text:
    communication using a CNN trained with (a) 4 robots, (b) 8 robots, and (c) 12 robots. MCTS (Random) CNN

  • Customizable Visual Traces for Program Explanations

    Creator:
    Bajaj, Divya
    Abstract:
    Correctness and efficiency are important properties of programs. However, to support maintenance and debugging, the programs should also be understandable. Program explanations also play a vital role in educational settings, enhancing the understanding of programs among students. Proof trees provide a sound basis for generating dynamic explanations of programs. But...
    Resource Type:
    Masters Thesis
    Full Text:
    Removing intermediate node c from trace in Figure 5.1 . . . . . . . . . . 29 5.3 Hiding node c from trace

  • Bayesian optimization with empirical constraints

    Creator:
    Azimi, Javad
    Abstract:
    Bayesian Optimization (BO) methods are often used to optimize an unknown function f(•) that is costly to evaluate. They typically work in an iterative manner. In each iteration, given a set of observation points, BO algorithms select k ≥ 1 points to be evaluated. The results of those points are...
    Resource Type:
    Dissertation
    Full Text:
    based on MEI. Input: Batch size (k), the believer constant (c), current observation O = (xO,yO). x

  • Statistical Properties and Guarantees for Certain Anomaly Detection Relevant Problems

    Creator:
    Liu, Si
    Abstract:
    Anomaly detection aims at detecting the points that appear different than the majority of the data, such that they are suspected to be generated from a different distribution. Anomaly detectors have been applied in many different fields, such as detecting fraudulent behaviors in bank transaction, finding broken sensors in a...
    Resource Type:
    Dissertation
    Full Text:
    are at least k points with upper bounds lower than this value plus �c(n) log2(1 � ⇢). If so, we can

  • Object detection in biological images using a search-based framework

    Creator:
    Lam, Michael
    Abstract:
    This thesis addresses a basic problem in computer vision, that of semantic labeling of images. Our work is aimed at object detection in biological images for evolutionary biology research. In particular, our goal is to detect nematocysts in Scanning Electron Microscope (SEM) images. This biological domain presents challenges for existing...
    Resource Type:
    Masters Thesis
    Full Text:
    candidate labelings, and then applies a cost function (C) to select the best- scoring prediction among the

  • Action Segmentation with Limited Supervision

    Creator:
    Li, Jun
    Abstract:
    In this dissertation, we address action segmentation in videos under limited supervision. The goal of action segmentation is to predict an action class for each frame of a video. The limited supervision means ground truth labels of video frames are not available in training. We focus on three types of...
    Resource Type:
    Dissertation
    Full Text:
    c1:N that belongs to the set ofK action classes, i.e. cn ∈ C = {1, 2, ...,K}. Its ground-truth set

  • Deep Learning for Human and Biological Languages

    Creator:
    Hong, Junki
    Abstract:
    We explore the application of deep learning to the disparate fields of natural language processing and computational biology. Both the sentences uttered by humans as well as the RNA and protein sequences found within the cells of their bodies can be considered formal languages in computer science, as sets of...
    Resource Type:
    Dissertation
    Full Text:
    : ⟨j, j + 1⟩ : (c+ ξ, ξ) j < n reduce ℓ′ : ⟨k, i⟩ : (c′, v′) ℓ : ⟨i, j⟩ : ( , v) ℓ+ 1 : ⟨k, j⟩ : (c

  • Planning in multi-agent partially observable domains using sparse sampling

    Creator:
    Donneau-Golencer, Thierry D.
    Abstract:
    A large number of sequential decision-making problems in uncertain environments can be modeled as Markov Decision Processes (MDPs). In such settings, an agent can observe at each time step the state of the environment and then executes an action, causing a stochastic transition to a new state of the environment...
    Resource Type:
    Masters Thesis
    Full Text:
    /c')�h3 "-2/�H_�9/K<>Di8!&2/NMO�jHJ-)*��!7��!*N&EDkAC&2 \g2-`'l$.�!89�+D"��-0/ W \-�89�!D"D\�!D

  • Fast queuing policies via convex relaxation

    Creator:
    Nguyen-Huu, Duong
    Abstract:
    Traditionally, networking protocol designs have placed much emphasis on point-to-point reliability and efficiency. With the recent rise of mobile and multimedia applications, other considerations such as power consumption and/or Quality of Service (QoS) are becoming increasingly important factors in designing network protocols. As such, we present a new flexible framework...
    Resource Type:
    Masters Thesis
    Full Text:
    presented to verify our framework. c©Copyright by Duong Nguyen-Huu May 20, 2013 All Rights Reserved

  • Toward Disentangling the Activations of the Deep Networks via Low-dimensional Embedding and Non-negative Factorization

    Creator:
    Khorram, Saeed
    Abstract:
    In this thesis, we introduce a novel Explanation Neural Network (XNN) to explain the predictions made by a deep network. The XNN works by embedding a high-dimensional activation vector of a deep network layer non-linearly into a low-dimensional explanation space while retaining faithfulness i.e., the original deep learning predictions can...
    Resource Type:
    Masters Thesis
    Full Text:
    through experiments in supervised learning and DeepFacto settings. c©Copyright by Saeed Khorram March