We present a method for Temporal Difference (TD) learning that addresses several challenges faced by robots learning to navigate in a marine environment. For improved data efficiency, our method reduces TD updates to Gaussian Process regression. To make predictions amenable to online settings, we introduce a sparse approximation with improved quality over current rejection-based sparse methods. We derive the predictive value function posterior and use the moments to obtain a new algorithm for model-free policy evaluation, SPGP-SARSA. With simple changes, we show SPGP-SARSA can be reduced to a model-based equivalent, SPGP-TD. We perform comprehensive simulation studies and also conduct physical learning trials with an underwater robot. Our results show SPGP-SARSA can outperform the state-of-the-art sparse method, replicate the prediction quality of its exact counterpart, and be applied to solve underwater navigation tasks.
There are several key assumptions underpinning our results. To guarantee the likelihood can be factored, we need to assume that transitions are uncorrelated. Had we modeled serial correlation in the noise process, @math would be distributed with a tridiagonal covariance @cite_14 , which cannot be factored directly. It is possible to obtain a factorable model by applying a whitening transform. However, this changes the observation process to Monte Carlo samples, which are known to be noisy @cite_16 . Under our simpler set of assumptions, we obtain an efficiently-computable, sparse representation of the value posterior that is amenable to smooth evidence maximization. Section details how to select the hyperparameters and pseudo inputs with gradient-based optimization.
@cite_14 @cite_16
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Given a weighted graph with N vertices, consider a real-valued regression problem in a semisupervised setting, where one observes n labeled vertices, and the task is to label the remaining ones. We present a theoretical study of p-based Laplacian regularization under a d-dimensional geometric random graph model. We provide a variational characterization of the performance of this regularized learner as N grows to infinity while n stays constant; the associated optimality conditions lead to a partial differential equation that must be satisfied by the associated function estimate f . From this formulation we derive several predictions on the limiting behavior the function f , including (a) a phase transition in its smoothness at the threshold p = d + 1; and (b) a tradeoff between smoothness and sensitivity to the underlying unlabeled data distribution P . Thus, over the range p ≤ d, the function estimate f is degenerate and “spiky,” whereas for p ≥ d + 1, the function estimate f is smooth. We show that the effect of the underlying density vanishes monotonically with p, such that in the limit p = ∞, corresponding to the so-called Absolutely Minimal Lipschitz Extension, the estimate f is independent of the distribution P . Under the assumption of semi-supervised smoothness, ignoring P can lead to poor statistical performance; in particular, we construct a specific example for d = 1 to demonstrate that p = 2 has lower risk than p =∞ due to the former penalty adapting to P and the latter ignoring it. We also provide simulations that verify the accuracy of our predictions for finite sample sizes. Together, these properties show that p = d + 1 is an optimal choice, yielding a function estimate f that is both smooth and non-degenerate, while remaining maximally sensitive to P . Most existing image denoising approaches assumed the noise to be homogeneous white Gaussian distributed with known intensity. However, in real noisy images, the noise models are usually unknown beforehand and can be much more complex. This paper addresses this problem and proposes a novel blind image denoising algorithm to recover the clean image from noisy one with the unknown noise model. To model the empirical noise of an image, our method introduces the mixture of Gaussian distribution, which is flexible enough to approximate different continuous distributions. The problem of blind image denoising is reformulated as a learning problem. The procedure is to first build a two-layer structural model for noisy patches and consider the clean ones as latent variable. To control the complexity of the noisy patch model, this work proposes a novel Bayesian nonparametric prior called “Dependent Dirichlet Process Tree” to build the model. Then, this study derives a variational inference algorithm to estimate model parameters and recover clean patches. We apply our method on synthesis and real noisy images with different noise models. Comparing with previous approaches, ours achieves better performance. The experimental results indicate the efficiency of the proposed algorithm to cope with practical image denoising tasks. We present a novel probabilistic approach for fitting a statistical model to an image. A 3D Morphable Model (3DMM) of faces is interpreted as a generative (Top-Down) Bayesian model. Random Forests are used as noisy detectors (Bottom-Up) for the face and facial landmark positions. The Top-Down and Bottom-Up parts are then combined using a Data-Driven Markov Chain Monte Carlo Method (DDMCMC). As core of the integration, we use the Metropolis-Hastings algorithm which has two main advantages. First, the algorithm can handle unreliable detections and therefore does not need the detectors to take an early and possible wrong hard decision before fitting. Second, it is open for integration of various cues to guide the fitting process. Based on the proposed approach, we implemented a completely automatic, pose and illumination invariant face recognition application. We are able to train and test the building blocks of our application on different databases. The system is evaluated on the Multi-PIE database and reaches state of the art performance. Effective unmixing of hyperspectral data cube under a noisy scenario has been a challenging research problem in remote sensing arena. A branch of existing hyperspectral unmixing algorithms is based on Craig's criterion, which states that the vertices of the minimum-volume simplex enclosing the hyperspectral data should yield high fidelity estimates of the endmember signatures associated with the data cloud. Recently, we have developed a minimum-volume enclosing simplex (MVES) algorithm based on Craig's criterion and validated that the MVES algorithm is very useful to unmix highly mixed hyperspectral data. However, the presence of noise in the observations expands the actual data cloud, and as a consequence, the endmember estimates obtained by applying Craig-criterion-based algorithms to the noisy data may no longer be in close proximity to the true endmember signatures. In this paper, we propose a robust MVES (RMVES) algorithm that accounts for the noise effects in the observations by employing chance constraints. These chance constraints in turn control the volume of the resulting simplex. Under the Gaussian noise assumption, the chance-constrained MVES problem can be formulated into a deterministic nonlinear program. The problem can then be conveniently handled by alternating optimization, in which each subproblem involved is handled by using sequential quadratic programming solvers. The proposed RMVES is compared with several existing benchmark algorithms, including its predecessor, the MVES algorithm. Monte Carlo simulations and real hyperspectral data experiments are presented to demonstrate the efficacy of the proposed RMVES algorithm.