This work explores the feasibility of steering a drone with a (recurrent) neural network, based on input from a forward looking camera, in the context of a high-level navigation task. We set up a generic framework for training a network to perform navigation tasks based on imitation learning. It can be applied to both aerial and land vehicles. As a proof of concept we apply it to a UAV (Unmanned Aerial Vehicle) in a simulated environment, learning to cross a room containing a number of obstacles. So far only feedforward neural networks (FNNs) have been used to train UAV control. To cope with more complex tasks, we propose the use of recurrent neural networks (RNN) instead and successfully train an LSTM (Long-Short Term Memory) network for controlling UAVs. Vision based control is a sequential prediction problem, known for its highly correlated input data. The correlation makes training a network hard, especially an RNN. To overcome this issue, we investigate an alternative sampling method during training, namely window-wise truncated backpropagation through time (WW-TBPTT). Further, end-to-end training requires a lot of data which often is not available. Therefore, we compare the performance of retraining only the Fully Connected (FC) and LSTM control layers with networks which are trained end-to-end. Performing the relatively simple task of crossing a room already reveals important guidelines and good practices for training neural control networks. Different visualizations help to explain the behavior learned.
Neural networks need a lot of annotated data. @cite_6 have made a virtual environment from which a very big annotated dataset was obtained. They train a control network to drive a car autonomously on a dataset containing less than 8 percent of real data. In the same spirit, we see it fit to explore the training behavior of different control networks first in a simulated environment. Once the control behaves properly the step to the real world only needs a relatively small amount of extra training data from the real world.
@cite_6
2790277825
Deep neural networks typically require large amounts of annotated data to be trained effectively. However, in several scientific disciplines, including medical image analysis, generating such large annotated datasets requires specialized domain knowledge, and hence is usually very expensive. In this work, we present a novel application of active learning to data sample selection for training Convolutional Neural Networks (CNN) for Cancerous Tissue Recognition (CTR). Our main idea is to steer annotation efforts towards selecting the most informative samples for training the CNN. To quantify informativeness, we explore three choices based on discrete entropy, best-vs-second-best, and k-nearest neighbor agreement. Our results on three different types of cancer datasets consistently demonstrate that under limited annotated samples, our proposed training scheme converges faster than classical randomized stochastic gradient descent, while achieving the same (or sometimes superior) classification accuracy.