Robot recognition tasks usually require multiple homogeneous or heterogeneous sensors which intrinsically generate sequential, redundant, and storage demanding data with various noise pollution. Thus, online machine l...Robot recognition tasks usually require multiple homogeneous or heterogeneous sensors which intrinsically generate sequential, redundant, and storage demanding data with various noise pollution. Thus, online machine learning algorithms performing efficient sensory feature fusion have become a hot topic in robot recognition domain. This paper proposes an online multi-kernel extreme learning machine （OM-ELM） which assembles multiple ELM classifiers and optimizes the kernel weights with a p-norm formulation of multi-kernel learning （MKL） problem. It can be applied in feature fusion applications that require incremental learning over multiple sequential sensory readings. The performance of OM-ELM is tested towards four different robot recognition tasks. By comparing to several state-of-the-art online models for multi-kernel learning, we claim that our method achieves a superior or equivalent training accuracy and generalization ability with less training time. Practical suggestions are also given to aid effective online fusion of robot sensory features.展开更多
针对核极限学习机(Extreme Learning Machine with Kernel,KELM)在线应用过程中,核矩阵膨胀,导致算法复杂性不断上升,且难以跟踪系统时变特征的问题,以滑动时间窗为基本建模策略,提出了一种新的KELM在线稀疏学习算法.在前向与后向稀疏...针对核极限学习机(Extreme Learning Machine with Kernel,KELM)在线应用过程中,核矩阵膨胀,导致算法复杂性不断上升,且难以跟踪系统时变特征的问题,以滑动时间窗为基本建模策略,提出了一种新的KELM在线稀疏学习算法.在前向与后向稀疏化过程中,基于提出的构造与修剪策略,通过在线最小化字典的积累一致性,可选择一组具有预定规模的关键节点.在增样学习与减样学习过程中,基于节点选择结果,利用矩阵的初等变换与分块矩阵求逆公式,模型参数能被在线递推更新.提出的算法被用于混沌时间序列预测与音频放大器状态预测.实验结果表明:相比于4种流形的在线序贯ELM算法,提出的方法在花费相似的测试时间的条件下,能够显著提升预测精度,且具有较好的稳定性.展开更多
文摘Robot recognition tasks usually require multiple homogeneous or heterogeneous sensors which intrinsically generate sequential, redundant, and storage demanding data with various noise pollution. Thus, online machine learning algorithms performing efficient sensory feature fusion have become a hot topic in robot recognition domain. This paper proposes an online multi-kernel extreme learning machine （OM-ELM） which assembles multiple ELM classifiers and optimizes the kernel weights with a p-norm formulation of multi-kernel learning （MKL） problem. It can be applied in feature fusion applications that require incremental learning over multiple sequential sensory readings. The performance of OM-ELM is tested towards four different robot recognition tasks. By comparing to several state-of-the-art online models for multi-kernel learning, we claim that our method achieves a superior or equivalent training accuracy and generalization ability with less training time. Practical suggestions are also given to aid effective online fusion of robot sensory features.
文摘针对核极限学习机(Extreme Learning Machine with Kernel,KELM)在线应用过程中,核矩阵膨胀,导致算法复杂性不断上升,且难以跟踪系统时变特征的问题,以滑动时间窗为基本建模策略,提出了一种新的KELM在线稀疏学习算法.在前向与后向稀疏化过程中,基于提出的构造与修剪策略,通过在线最小化字典的积累一致性,可选择一组具有预定规模的关键节点.在增样学习与减样学习过程中,基于节点选择结果,利用矩阵的初等变换与分块矩阵求逆公式,模型参数能被在线递推更新.提出的算法被用于混沌时间序列预测与音频放大器状态预测.实验结果表明:相比于4种流形的在线序贯ELM算法,提出的方法在花费相似的测试时间的条件下,能够显著提升预测精度,且具有较好的稳定性.
