Dex-net is a robotic. It uses a Grasp Quality Convolutional Neural Network to learn how to grasp unusually shaped objects. == History == Dex-net was developed by University of California, Berkeley professor Ken Goldberg and graduate student Jeff Mahler. == Design == Dex-net includes a high-resolution 3-D sensor and two arms, each controlled by a different neural network. One arm is equipped with a conventional robot gripper and another with a suction system. The robot’s software scans an object and then asks both neural networks to decide, on the fly, whether to grab or suck a particular object. It runs on an off-the-shelf industrial machine made by Swiss robotics company ABB. The software learns by attempting to pick up objects in a virtual environment. Dex-Net can generalize from an object it has seen before to a new one. The robot can "nudge" such virtual objects to examine if it is unsure how to grasp them. The trial data set was 6.7 million point clouds, grasps and analytic grasp metrics generated from thousands of 3D models. Grasps are defined as a gripper's planar position, angle and depth relative to an RGB-D sensor. == Mean picks per hour == A metric called mean picks per hour (MPPH) is calculated by multiplying the average time per pick and the average probability of success for a specific set of objects. The new metric allows labs working on picking robots to compare their results. Humans are capable of between 400 and 600 MPPH. In a contest organized by Amazon recently, the best robots were capable of between 70 and 95. Dex-net has achieved 200 to 300.
VideoThang
VideoThang was free video editing software for Windows 2000, XP, and Vista. The software has three parts to it which are My Stuff, Edit My Stuff, and My Mix. The software accepts MOV, AVI, MPG, MP4, PNG, WMV, FLV, and MP3 standards. Its official website is now no longer available. == Reception == Jan Ozer, of Pcmag, said that the software "suffers from several unfortunate design and implementation flaws that dramatically limit output quality and overall utility." Jon L. Jacobi, of PC World, said that the software "may not be the most flexible multimedia editor in the world, but the trim/zoom basics are there, it's free, and it's so simple to use that just about anyone in the world should be able figure it out." Amit Agarwal, of Digital Inspiration, said that the software "doesn’t offer loads of features like other video editors but is perfect for making quick video slideshows of your pictures that you can upload on the web or share via email."
Lynda Soderholm
Lynda Soderholm is a physical chemist at the U.S. Department of Energy's (DOE) Argonne National Laboratory with a specialty in f-block elements. She is a senior scientist and the lead of the Actinide, Geochemistry & Separation Sciences Theme within Argonne's Chemical Sciences and Engineering Division. Her specific role is the Separation Science group leader within Heavy Element Chemistry and Separation Science (HESS), directing basic research focused on low-energy methods for isolating lanthanide and actinide elements from complex mixtures. She has made fundamental contributions to understanding f-block chemistry and characterizing f-block elements. Soderholm became a Fellow of the American Association for the Advancement of Science (AAAS) in 2013, and is also an Argonne Distinguished Fellow. == Early life and education == Soderholm was awarded her PhD in 1982 by McMaster University under the direction of Prof John Greedan. Her dissertation focused on characterizing the structural and magnetic properties of a series of ternary f-ion oxides. After graduating, she was awarded a NATO postdoctoral fellow at the Centre national de la recherche scientifique in France from 1982 until 1985. After a short postdoctoral appointment as an Argonne postdoctoral fellow she was promoted to staff scientist the same year. Over several years, she moved up the ranks, becoming a senior chemist in 2001. She was also an adjunct professor at the University of Notre Dame from 2003 until 2007. In 2021, Soderholm was appointed interim Division Director for the Chemical Sciences and Engineering Division. == Career and research == === Uncovering structure of Yttrium-123 Superconductor === Early in her career, Soderholm focused on the characterizing the magnetic and electronic behavior of compounds containing f-ions (lanthanides and actinides) with a focus on high-Tc materials, compounds that are superconducting under usually high temperatures. She was part of the research group that first determined the structure of YBa2Cu3O7. Their discovery formed the foundation for the further developments in the broad field of superconductivity. === Understanding f-ion speciation in solution === Continuing her interest in the f-elements, Soderholm shifted her focus from solid-state materials to nanoparticles and solutions, taking advantage of advances in X-ray structural probes made available by synchrotron facilities. Building on her earlier work using neutron scattering, her team became the first to discover that plutonium exists in solution as tiny, well-defined nanoparticles. This work solved a longstanding problem in understanding transport of plutonium in the environment and resulted in the development of a new, patented approach to separating plutonium during nuclear reprocessing. === Using machine learning to evaluate molecular structures === Soderholm's more recent projects use machine learning to understand the influence of complex molecular structuring in solutions, in connection with low-energy processes for separation of f-block elements from complex mixtures. == Awards and honors == University of Chicago Board of Governors' Distinguished Performance Award, 2009. Fellow of the American Association for the Advancement of Science, 2013. Argonne Distinguished Fellow, 2016 DOE materials sciences research competition for Outstanding Scientific Accomplishments in Solid State Physics, 1987. == Select publications == Beno, M. A.; Soderholm, L.; Capone, D. W., II; Hinks, D. G.; Jorgensen, J. D.; Grace, J. D.; Schuller, I. K.; Segre, C. U.; Zhang, K., Structure of the single-phase high-temperature superconductor yttrium barium copper oxide (YBa2Cu3O7−δ). Appl. Phys. Lett. 1987, 51 (1), 57–9. Soderholm, L.; Zhang, K.; Hinks, D. G.; Beno, M. A.; Jorgensen, J. D.; Segre, C. U.; Schuller, I. K., Incorporation of praseodymium in YBa2Cu3O7−δ: electronic effects on superconductivity. Nature (London) 1987, 328 (6131), 604–5. Antonio, M. R.; Williams, C. W.; Soderholm, L., Berkelium redox speciation. Radiochim. Acta 2002, 90 (12), 851–856. Soderholm, L.; Skanthakumar, S.; Neuefeind, J., Determination of actinide speciation in solution using high-energy X-ray scattering. Anal. Bioanal. Chem. 2005, 383 (1), 48–55. Forbes, T. Z.; Burns, P. C.; Skanthakumar, S.; Soderholm, L., Synthesis, structure, and magnetism of Np2O5. J. Am. Chem. Soc. 2007, 129 (10), 2760–2761. Soderholm, L.; Almond, P. M.; Skanthakumar, S.; Wilson, R. E.; Burns, P. C., The structure of the plutonium oxide nanocluster [Pu38O56Cl54(H2O)8]14-. Angew. Chem., Int. Ed. 2008, 47 (2), 298–302. Jensen, M. P.; Gorman-Lewis, D.; Aryal, B.; Paunesku, T.; Vogt, S.; Rickert, P. G.; Seifert, S.; Lai, B.; Woloschak, G. E.; Soderholm, L., An iron-dependent and transferrin-mediated cellular uptake pathway for plutonium. Nat. Chem. Biol. 2011, 7 (8), 560–565. Wilson, R. E.; Skanthakumar, S.; Soderholm, L., Separation of Plutonium Oxide Nanoparticles and Colloids. Angew. Chem., Int. Ed. 2011, 50 (47), 11234–11237. Knope, K. E.; Soderholm, L., Solution and solid-state structural chemistry of actinide hydrates and their hydrolysis and condensation products. Chem. Rev. 2013, 113 (2), 944–994. Luo, G.; Bu, W.; Mihaylov, M.; Kuzmenko, I.; Schlossman, M. L.; Soderholm, L., X-ray reflectivity reveals a nonmonotonic ion-density profile perpendicular to the surface of ErCl3 aqueous solutions. J. Phys. Chem. C 2013, 117 (37), 19082–19090. Jin, G. B.; Lin, J.; Estes, S. L.; Skanthakumar, S.; Soderholm, L., Influence of countercation hydration enthalpies on the formation of molecular complexes: A thorium-nitrate example. J. Am. Chem. Soc. 2017, 139 (49), 18003–18008. == Patents == Solvent extraction system for plutonium colloids and other oxide nano-particles, (2016).
Highway network
In machine learning, the Highway Network was the first working very deep feedforward neural network with hundreds of layers, much deeper than previous neural networks. It uses skip connections modulated by learned gating mechanisms to regulate information flow, inspired by long short-term memory (LSTM) recurrent neural networks. The advantage of the Highway Network over other deep learning architectures is its ability to overcome or partially prevent the vanishing gradient problem, thus improving its optimization. Gating mechanisms are used to facilitate information flow across the many layers ("information highways"). Highway Networks have found use in text sequence labeling and speech recognition tasks. In 2014, the state of the art was training deep neural networks with 20 to 30 layers. Stacking too many layers led to a steep reduction in training accuracy, known as the "degradation" problem. In 2015, two techniques were developed to train such networks: the Highway Network (published in May), and the residual neural network, or ResNet (December). ResNet behaves like an open-gated Highway Net. == Model == The model has two gates in addition to the H ( W H , x ) {\displaystyle H(W_{H},x)} gate: the transform gate T ( W T , x ) {\displaystyle T(W_{T},x)} and the carry gate C ( W C , x ) {\displaystyle C(W_{C},x)} . The latter two gates are non-linear transfer functions (specifically sigmoid by convention). The function H {\displaystyle H} can be any desired transfer function. The carry gate is defined as: C ( W C , x ) = 1 − T ( W T , x ) {\displaystyle C(W_{C},x)=1-T(W_{T},x)} while the transform gate is just a gate with a sigmoid transfer function. == Structure == The structure of a hidden layer in the Highway Network follows the equation: y = H ( x , W H ) ⋅ T ( x , W T ) + x ⋅ C ( x , W C ) = H ( x , W H ) ⋅ T ( x , W T ) + x ⋅ ( 1 − T ( x , W T ) ) {\displaystyle {\begin{aligned}y=H(x,W_{H})\cdot T(x,W_{T})+x\cdot C(x,W_{C})\\=H(x,W_{H})\cdot T(x,W_{T})+x\cdot (1-T(x,W_{T}))\end{aligned}}} == Related work == Sepp Hochreiter analyzed the vanishing gradient problem in 1991 and attributed to it the reason why deep learning did not work well. To overcome this problem, Long Short-Term Memory (LSTM) recurrent neural networks have residual connections with a weight of 1.0 in every LSTM cell (called the constant error carrousel) to compute y t + 1 = F ( x t ) + x t {\textstyle y_{t+1}=F(x_{t})+x_{t}} . During backpropagation through time, this becomes the residual formula y = F ( x ) + x {\textstyle y=F(x)+x} for feedforward neural networks. This enables training very deep recurrent neural networks with a very long time span t. A later LSTM version published in 2000 modulates the identity LSTM connections by so-called "forget gates" such that their weights are not fixed to 1.0 but can be learned. In experiments, the forget gates were initialized with positive bias weights, thus being opened, addressing the vanishing gradient problem. As long as the forget gates of the 2000 LSTM are open, it behaves like the 1997 LSTM. The Highway Network of May 2015 applies these principles to feedforward neural networks. It was reported to be "the first very deep feedforward network with hundreds of layers". It is like a 2000 LSTM with forget gates unfolded in time, while the later Residual Nets have no equivalent of forget gates and are like the unfolded original 1997 LSTM. If the skip connections in Highway Networks are "without gates," or if their gates are kept open (activation 1.0), they become Residual Networks. The residual connection is a special case of the "short-cut connection" or "skip connection" by Rosenblatt (1961) and Lang & Witbrock (1988) which has the form x ↦ F ( x ) + A x {\displaystyle x\mapsto F(x)+Ax} . Here the randomly initialized weight matrix A does not have to be the identity mapping. Every residual connection is a skip connection, but almost all skip connections are not residual connections. The original Highway Network paper not only introduced the basic principle for very deep feedforward networks, but also included experimental results with 20, 50, and 100 layers networks, and mentioned ongoing experiments with up to 900 layers. Networks with 50 or 100 layers had lower training error than their plain network counterparts, but no lower training error than their 20 layers counterpart (on the MNIST dataset, Figure 1 in ). No improvement on test accuracy was reported with networks deeper than 19 layers (on the CIFAR-10 dataset; Table 1 in ). The ResNet paper, however, provided strong experimental evidence of the benefits of going deeper than 20 layers. It argued that the identity mapping without modulation is crucial and mentioned that modulation in the skip connection can still lead to vanishing signals in forward and backward propagation (Section 3 in ). This is also why the forget gates of the 2000 LSTM were initially opened through positive bias weights: as long as the gates are open, it behaves like the 1997 LSTM. Similarly, a Highway Net whose gates are opened through strongly positive bias weights behaves like a ResNet. The skip connections used in modern neural networks (e.g., Transformers) are dominantly identity mappings.
Stability (learning theory)
Stability, also known as algorithmic stability, is a notion in computational learning theory of how a machine learning algorithm output is changed with small perturbations to its inputs. A stable learning algorithm is one for which the prediction does not change much when the training data is modified slightly. For instance, consider a machine learning algorithm that is being trained to recognize handwritten letters of the alphabet, using 1000 examples of handwritten letters and their labels ("A" to "Z") as a training set. One way to modify this training set is to leave out an example, so that only 999 examples of handwritten letters and their labels are available. A stable learning algorithm would produce a similar classifier with both the 1000-element and 999-element training sets. Stability can be studied for many types of learning problems, from language learning to inverse problems in physics and engineering, as it is a property of the learning process rather than the type of information being learned. The study of stability gained importance in computational learning theory in the 2000s when it was shown to have a connection with generalization. It was shown that for large classes of learning algorithms, notably empirical risk minimization algorithms, certain types of stability ensure good generalization. == History == A central goal in designing a machine learning system is to guarantee that the learning algorithm will generalize, or perform accurately on new examples after being trained on a finite number of them. In the 1990s, milestones were reached in obtaining generalization bounds for supervised learning algorithms. The technique historically used to prove generalization was to show that an algorithm was consistent, using the uniform convergence properties of empirical quantities to their means. This technique was used to obtain generalization bounds for the large class of empirical risk minimization (ERM) algorithms. An ERM algorithm is one that selects a solution from a hypothesis space H {\displaystyle H} in such a way to minimize the empirical error on a training set S {\displaystyle S} . A general result, proved by Vladimir Vapnik for an ERM binary classification algorithms, is that for any target function and input distribution, any hypothesis space H {\displaystyle H} with VC-dimension d {\displaystyle d} , and n {\displaystyle n} training examples, the algorithm is consistent and will produce a training error that is at most O ( d n ) {\displaystyle O\left({\sqrt {\frac {d}{n}}}\right)} (plus logarithmic factors) from the true error. The result was later extended to almost-ERM algorithms with function classes that do not have unique minimizers. Vapnik's work, using what became known as VC theory, established a relationship between generalization of a learning algorithm and properties of the hypothesis space H {\displaystyle H} of functions being learned. However, these results could not be applied to algorithms with hypothesis spaces of unbounded VC-dimension. Put another way, these results could not be applied when the information being learned had a complexity that was too large to measure. Some of the simplest machine learning algorithms—for instance, for regression—have hypothesis spaces with unbounded VC-dimension. Another example is language learning algorithms that can produce sentences of arbitrary length. Stability analysis was developed in the 2000s for computational learning theory and is an alternative method for obtaining generalization bounds. The stability of an algorithm is a property of the learning process, rather than a direct property of the hypothesis space H {\displaystyle H} , and it can be assessed in algorithms that have hypothesis spaces with unbounded or undefined VC-dimension such as nearest neighbor. A stable learning algorithm is one for which the learned function does not change much when the training set is slightly modified, for instance by leaving out an example. A measure of Leave one out error is used in a Cross Validation Leave One Out (CVloo) algorithm to evaluate a learning algorithm's stability with respect to the loss function. As such, stability analysis is the application of sensitivity analysis to machine learning. == Summary of classic results == Early 1900s - Stability in learning theory was earliest described in terms of continuity of the learning map L {\displaystyle L} , traced to Andrey Nikolayevich Tikhonov. 1979 - Devroye and Wagner observed that the leave-one-out behavior of an algorithm is related to its sensitivity to small changes in the sample. 1999 - Kearns and Ron discovered a connection between finite VC-dimension and stability. 2002 - In a landmark paper, Bousquet and Elisseeff proposed the notion of uniform hypothesis stability of a learning algorithm and showed that it implies low generalization error. Uniform hypothesis stability, however, is a strong condition that does not apply to large classes of algorithms, including ERM algorithms with a hypothesis space of only two functions. 2002 - Kutin and Niyogi extended Bousquet and Elisseeff's results by providing generalization bounds for several weaker forms of stability which they called almost-everywhere stability. Furthermore, they took an initial step in establishing the relationship between stability and consistency in ERM algorithms in the Probably Approximately Correct (PAC) setting. 2004 - Poggio et al. proved a general relationship between stability and ERM consistency. They proposed a statistical form of leave-one-out-stability which they called CVEEEloo stability, and showed that it is a) sufficient for generalization in bounded loss classes, and b) necessary and sufficient for consistency (and thus generalization) of ERM algorithms for certain loss functions such as the square loss, the absolute value and the binary classification loss. 2010 - Shalev Shwartz et al. noticed problems with the original results of Vapnik due to the complex relations between hypothesis space and loss class. They discuss stability notions that capture different loss classes and different types of learning, supervised and unsupervised. 2016 - Moritz Hardt et al. proved stability of gradient descent given certain assumption on the hypothesis and number of times each instance is used to update the model. == Preliminary definitions == We define several terms related to learning algorithms training sets, so that we can then define stability in multiple ways and present theorems from the field. A machine learning algorithm, also known as a learning map L {\displaystyle L} , maps a training data set, which is a set of labeled examples ( x , y ) {\displaystyle (x,y)} , onto a function f {\displaystyle f} from X {\displaystyle X} to Y {\displaystyle Y} , where X {\displaystyle X} and Y {\displaystyle Y} are in the same space of the training examples. The functions f {\displaystyle f} are selected from a hypothesis space of functions called H {\displaystyle H} . The training set from which an algorithm learns is defined as S = { z 1 = ( x 1 , y 1 ) , . . , z m = ( x m , y m ) } {\displaystyle S=\{z_{1}=(x_{1},\ y_{1})\ ,..,\ z_{m}=(x_{m},\ y_{m})\}} and is of size m {\displaystyle m} in Z = X × Y {\displaystyle Z=X\times Y} drawn i.i.d. from an unknown distribution D. Thus, the learning map L {\displaystyle L} is defined as a mapping from Z m {\displaystyle Z_{m}} into H {\displaystyle H} , mapping a training set S {\displaystyle S} onto a function f S {\displaystyle f_{S}} from X {\displaystyle X} to Y {\displaystyle Y} . Here, we consider only deterministic algorithms where L {\displaystyle L} is symmetric with respect to S {\displaystyle S} , i.e. it does not depend on the order of the elements in the training set. Furthermore, we assume that all functions are measurable and all sets are countable. The loss V {\displaystyle V} of a hypothesis f {\displaystyle f} with respect to an example z = ( x , y ) {\displaystyle z=(x,y)} is then defined as V ( f , z ) = V ( f ( x ) , y ) {\displaystyle V(f,z)=V(f(x),y)} . The empirical error of f {\displaystyle f} is I S [ f ] = 1 n ∑ V ( f , z i ) {\displaystyle I_{S}[f]={\frac {1}{n}}\sum V(f,z_{i})} . The true error of f {\displaystyle f} is I [ f ] = E z V ( f , z ) {\displaystyle I[f]=\mathbb {E} _{z}V(f,z)} Given a training set S of size m, we will build, for all i = 1....,m, modified training sets as follows: By removing the i-th element S | i = { z 1 , . . . , z i − 1 , z i + 1 , . . . , z m } {\displaystyle S^{|i}=\{z_{1},...,\ z_{i-1},\ z_{i+1},...,\ z_{m}\}} By replacing the i-th element S i = { z 1 , . . . , z i − 1 , z i ′ , z i + 1 , . . . , z m } {\displaystyle S^{i}=\{z_{1},...,\ z_{i-1},\ z_{i}',\ z_{i+1},...,\ z_{m}\}} == Definitions of stability == === Hypothesis Stability === An algorithm L {\displaystyle L} has hypothesis stability β with respect to the loss function V if the following holds: ∀ i ∈ { 1 , . . . , m } , E S , z [ | V ( f S , z ) − V ( f S |
Clipmap
In computer graphics, clipmapping is a method of clipping a mipmap to a subset of data pertinent to the geometry being displayed. This is useful for loading as little data as possible when memory is limited, such as on a graphics processing unit. The technique is used for LODing in NVIDIA’s implementation of voxel cone tracing. The high-resolution levels of the mipmapped scene representation are clipped to a region near the camera, while lower resolution levels are clipped further away. == MegaTexture == MegaTexture is a clipmap implementation developed by id Software. It was introduced in their id Tech 4 engine and also appeared in id Tech 5 and id Tech 6 before being removed in id Tech 7. MegaTexture is a texture allocation technique that uses a single, extremely large texture rather than repeating multiple smaller textures. It is also featured in Splash Damage's game Enemy Territory: Quake Wars, and was developed by id Software former technical director John Carmack. MegaTexture employs a single large texture space for static terrain. The texture is stored on removable media or a computer's hard drive and streamed as needed, allowing large amounts of detail and variation over a large area with comparatively little RAM usage. Depending on the pixel resolution per square meter, covering a large area could require several gigabytes of memory. However, RAM is also filled by the rest of the game and the underlying operating system, limiting the amount available for texturing. As the player moves around the game, different sections of the MegaTexture are loaded into memory. They are then scaled to the correct size and applied to the 3D models of the terrain. Id has presented a more advanced technique that builds upon the MegaTexture idea and virtualizes both the geometry and the textures to obtain unique geometry down to the equivalent of the texel: the sparse voxel octree (SVO). It works by raycasting the geometry represented by voxels (instead of triangles) stored in an octree. The goal is to stream parts of the octree into video memory, going further down along the tree for nearby objects to give them more details, and to use higher level, larger voxels for farther objects, which give an automatic level of detail (LOD) system for both geometry and textures at the same time. The geometric detail that can be obtained using this method is nearly infinite, which removes the need for faking 3-dimensional details with techniques such as normal mapping. Despite that most voxel rendering tests use very large amounts of memory (up to several GB), Jon Olick of id Software claimed the technology is able to compress such SVO to 1.15 bits per voxel of position data. == Virtual texturing == Unlike clipmaps, which clip each mip level around a viewpoint-dependent clipcenter and therefore work best for terrain, virtual texturing preprocesses texture data into equally sized tiles that can be streamed for arbitrary textured geometry. Rage, powered by the id Tech 5 engine, uses a more advanced technique called virtual texturing. Textures can measure up to 128000×128000 pixels and are also used for in-game models and sprites, etc. and not just the terrain. Wolfenstein: The New Order and the 2016 version of Doom also use these. Carmageddon: Reincarnation also uses virtual texturing, though unlike id's virtual texturing system, which is designed for unique texture-mapping everywhere, their system is designed to use storage space sparingly while still offering good blend of texture variation and resolution.
Semantic analysis (machine learning)
In machine learning, semantic analysis of a text corpus is the task of building structures that approximate concepts from a large set of documents. It generally does not involve prior semantic understanding of the documents. Semantic analysis strategies include: Metalanguages based on first-order logic, which can analyze the speech of humans. Understanding the semantics of a text is symbol grounding: if language is grounded, it is equal to recognizing a machine-readable meaning. For the restricted domain of spatial analysis, a computer-based language understanding system was demonstrated. Latent semantic analysis (LSA), a class of techniques where documents are represented as vectors in a term space. A prominent example is probabilistic latent semantic analysis (PLSA). Latent Dirichlet allocation, which involves attributing document terms to topics. n-grams and hidden Markov models, which work by representing the term stream as a Markov chain, in which each term is derived from preceding terms. == Stochastic semantic analysis ==