Given a still photograph, one can imagine how dynamic objects might move against a static background. This idea has been actualized in the form of cinemagraphs, where the motion of particular objects within a still image is repeated, giving the viewer a sense of animation. In this paper, we learn computational models that can generate cinemagraph sequences automatically given a single image. To generate cinemagraphs, we explore combining generative models with a recurrent neural network and deep Q-networks to enhance the power of sequence generation. To enable and evaluate these models we make use of two datasets, one synthetically generated and the other containing real video generated cinemagraphs. Both qualitative and quantitative evaluations demonstrate the effectiveness of our models on the synthetic and real datasets.
Deep reinforcement learning: Reinforcement Learning (RL) has been applied to many applications @cite_28 @cite_11 @cite_14 . Recently, works combining RL (especially model-free RL) with deep neural networks have attracted extensive attention @cite_26 @cite_5 @cite_19 @cite_27 @cite_15 . Model-free RL algorithms can be divided into two types: Q-learning and policy gradient learning. Deep Q-learning (DQL) predicts which action to take at each time step to maximize future rewards, while policy gradient methods directly optimize a policy of expected reward using gradient descent. For example, Mnih al @cite_26 use DQL to control an agent to play ATARI games (manipulating the joystick), while Gu al @cite_13 proposed a DQL method with a continuous action space. Silver al @cite_20 , Lillicrap al @cite_5 , Mnih al @cite_27 , and Schulman al @cite_38 make use of an actor-critic or an asynchronous variant of the actor-critic algorithm based on deterministic policy gradient that can solve the tasks with continuous action space, e.g., cartpole swing-up, 3D locomotion, or other robotics tasks.
@cite_38 @cite_14 @cite_26 @cite_28 @cite_19 @cite_27 @cite_5 @cite_15 @cite_13 @cite_20 @cite_11
2017995647 2145339207 2132400125 2260756217 2173248099 2950471160 2165150801
Automatically building maps from sensor data is a necessary and fundamental skill for mobile robots; as a result, considerable research attention has focused on the technical challenges inherent in the mapping problem. While statistical inference techniques have led to computationally efficient mapping algorithms, the next major challenge in robotic mapping is to automate the data collection process. In this paper, we address the problem of how a robot should plan to explore an unknown environment and collect data in order to maximize the accuracy of the resulting map. We formulate exploration as a constrained optimization problem and use reinforcement learning to find trajectories that lead to accurate maps. We demonstrate this process in simulation and show that the learned policy not only results in improved map building, but that the learned policy also transfers successfully to a real robot exploring on MIT campus. An artificial agent is developed that learns to play a diverse range of classic Atari 2600 computer games directly from sensory experience, achieving a performance comparable to that of an expert human player; this work paves the way to building general-purpose learning algorithms that bridge the divide between perception and action. We consider the task of driving a remote control car at high speeds through unstructured outdoor environments. We present an approach in which supervised learning is first used to estimate depths from single monocular images. The learning algorithm can be trained either on real camera images labeled with ground-truth distances to the closest obstacles, or on a training set consisting of synthetic graphics images. The resulting algorithm is able to learn monocular vision cues that accurately estimate the relative depths of obstacles in a scene. Reinforcement learning policy search is then applied within a simulator that renders synthetic scenes. This learns a control policy that selects a steering direction as a function of the vision system's output. We present results evaluating the predictive ability of the algorithm both on held out test data, and in actual autonomous driving experiments. We propose a conceptually simple and lightweight framework for deep reinforcement learning that uses asynchronous gradient descent for optimization of deep neural network controllers. We present asynchronous variants of four standard reinforcement learning algorithms and show that parallel actor-learners have a stabilizing effect on training allowing all four methods to successfully train neural network controllers. The best performing method, an asynchronous variant of actor-critic, surpasses the current state-of-the-art on the Atari domain while training for half the time on a single multi-core CPU instead of a GPU. Furthermore, we show that asynchronous actor-critic succeeds on a wide variety of continuous motor control problems as well as on a new task of navigating random 3D mazes using a visual input. We adapt the ideas underlying the success of Deep Q-Learning to the continuous action domain. We present an actor-critic, model-free algorithm based on the deterministic policy gradient that can operate over continuous action spaces. Using the same learning algorithm, network architecture and hyper-parameters, our algorithm robustly solves more than 20 simulated physics tasks, including classic problems such as cartpole swing-up, dexterous manipulation, legged locomotion and car driving. Our algorithm is able to find policies whose performance is competitive with those found by a planning algorithm with full access to the dynamics of the domain and its derivatives. We further demonstrate that for many of the tasks the algorithm can learn policies end-to-end: directly from raw pixel inputs. Model-free reinforcement learning has been successfully applied to a range of challenging problems, and has recently been extended to handle large neural network policies and value functions. However, the sample complexity of model-free algorithms, particularly when using high-dimensional function approximators, tends to limit their applicability to physical systems. In this paper, we explore algorithms and representations to reduce the sample complexity of deep reinforcement learning for continuous control tasks. We propose two complementary techniques for improving the efficiency of such algorithms. First, we derive a continuous variant of the Q-learning algorithm, which we call normalized adantage functions (NAF), as an alternative to the more commonly used policy gradient and actor-critic methods. NAF representation allows us to apply Q-learning with experience replay to continuous tasks, and substantially improves performance on a set of simulated robotic control tasks. To further improve the efficiency of our approach, we explore the use of learned models for accelerating model-free reinforcement learning. We show that iteratively refitted local linear models are especially effective for this, and demonstrate substantially faster learning on domains where such models are applicable. In this paper we consider deterministic policy gradient algorithms for reinforcement learning with continuous actions. The deterministic policy gradient has a particularly appealing form: it is the expected gradient of the action-value function. This simple form means that the deterministic policy gradient can be estimated much more efficiently than the usual stochastic policy gradient. To ensure adequate exploration, we introduce an off-policy actor-critic algorithm that learns a deterministic target policy from an exploratory behaviour policy. We demonstrate that deterministic policy gradient algorithms can significantly outperform their stochastic counterparts in high-dimensional action spaces.