Corner cases are the main bottlenecks when applying Artificial Intelligence (AI) systems to safety-critical applications. An AI system should be intelligent enough to detect such situations so that system developers can prepare for subsequent planning. In this paper, we propose semi-supervised anomaly detection considering the imbalance of normal situations. In particular, driving data consists of multiple positive normal situations (e.g., right turn, going straight), some of which (e.g., U-turn) could be as rare as anomalous situations. Existing machine learning based anomaly detection approaches do not fare sufficiently well when applied to such imbalanced data. In this paper, we present a novel multi-task learning based approach that leverages domain-knowledge (maneuver labels) for anomaly detection in driving data. We evaluate the proposed approach both quantitatively and qualitatively on 150 hours of real-world driving data and show improved performance over baseline approaches.
In ensemble learning, different models are trained on the same data (or random sets of samples from the original data) and a majority voting (or another fusion technique) is used to decide the final output. Another advantage of ensemble learning is that the member models are chosen such that they are complementary to each other in terms of their strengths weaknesses, i.e., the weaknesses of one are compensated by the strengths of the other. For example, @cite_4 , proposed an ensemble based collective and contextual anomaly detection framework. The ensemble consisted of pattern recognition algorithms such as Autoencoder and PCA, as well as prediction based anomaly detectors such as Support Vector Regression (SVR) and Random Forest. They showed that the ensemble classifier is able to perform well compared to the base classifiers.
@cite_4
2082366447 2006721374 1998901019 2130627644
Previous research has shown that averaging ensemble can scale up learning over very large cost-sensitive datasets with linear speedup independent of the learning algorithms. At the same time, it achieves the same or even better accuracy than a single model computed from the entire dataset. However, one major drawback is its inefficiency in prediction since every base model in the ensemble has to be consulted in order to produce a final prediction. In this paper, we propose several approaches to reduce the number of base classifiers. Among various methods explored, our empirical studies have shown that the benefit-based greedy approach can safely remove more than 90 of the base models while maintaining or even exceeding the prediction accuracy of the original ensemble. Assuming that each base classifier consumes one unit of prediction time, the removal of 90 of base classifiers translates to a prediction speedup of 10 times. On top of pruning, we propose a novel dynamic scheduling approach to further reduce the "expected" number of classifiers employed in prediction. It measures the confidence of a prediction by a subset of classifiers in the pruned ensemble. This confidence is used to decide if more classifiers are needed in order to produce a prediction that is the same as the original unpruned ensemble. This approach reduces the "expected" number of classifiers by another 25 to 75 without loss of accuracy. Ensembles of learning machines have been formally and empirically shown to outperform (generalise better than) single predictors in many cases. Evidence suggests that ensembles generalise better when they constitute members which form a diverse and accurate set. Additionally, there have been a multitude of theories on how one can enforce diversity within a combined predictor setup. We recently attempted to integrate these theories together into a co-evolutionary framework with a view to synthesising new evolutionary ensemble learning algorithms using the fact that multi-objective evolutionary optimisation is a formidable ensemble construction technique. This paper explicates on the intricacies of the proposed framework in addition to presenting detailed empirical results and comparisons with a wide range of algorithms in the machine learning literature. The framework treats diversity and accuracy as evolutionary pressures which are exerted at multiple levels of abstraction and is shown to be effective. Ensemble of classifiers, or simply ensemble systems, have been proved to be efficient for pattern recognition tasks. However, its design can become a difficult task. For instance, the choice of its individual classifiers and the use of feature selection methods are very difficult to define in the design of these systems. In order to smooth out this problem, we will apply meta-learning and multi-objective optimization in the choice of important parameters of ensemble systems. Therefore, this work applies meta-learning techniques to define an initial configuration of an multi-objective optimization algorithm, more specifically NSGA II. The meta-learner is used to recommend the proportion of each type of base classifiers to compose the ensemble systems. The NSGA II is used to generate heterogeneous ensembles selecting attributes, types and parameters of base classifiers optimizing the classification error and the bad diversity. The results are analysed using error rate and multi-objective metrics in order to verify whether to use of meta-learning generates more accurate ensemble systems. In this letter, an ensemble learning approach, Rotation Forest, has been applied to hyperspectral remote sensing image classification for the first time. The framework of Rotation Forest is to project the original data into a new feature space using transformation methods for each base classifier (decision tree), then the base classifier can train in different new spaces for the purpose of encouraging both individual accuracy and diversity within the ensemble simultaneously. Principal component analysis (PCA), maximum noise fraction, independent component analysis, and local Fisher discriminant analysis are introduced as feature transformation algorithms in the original Rotation Forest. The performance of Rotation Forest was evaluated based on several criteria: different data sets, sensitivity to the number of training samples, ensemble size and the number of features in a subset. Experimental results revealed that Rotation Forest, especially with PCA transformation, could produce more accurate results than bagging, AdaBoost, and Random Forest. They indicate that Rotation Forests are promising approaches for generating classifier ensemble of hyperspectral remote sensing.