TASK DEFINITION: In this task, you are given a part of an article. Your task is to generate headline (title) for this text. Preferred headlines are under fifteen words.
PROBLEM: Common activation functions used in neural networks can yield to training difficulties due to the saturation behavior of the activation function, which may hide dependencies which are not visible to first order (using only gradients). Gating mechanisms that use softly saturating activation functions to emulate the discrete switching of digital logic circuits are good examples of this. We propose to exploit the injection of appropriate noise so that some gradients may sometimes flow, even if the noiseless application of the activation function would yield zero gradient. Large noise will dominate the noise-free gradient and allow stochastic gradient descent to be more exploratory. By adding noise only to the problematic parts of the activation function we allow the optimization procedure to explore the boundary between the degenerate (saturating) and the well-behaved parts of the activation function. We also establish connections to simulated annealing, when the amount of noise is annealed down, making it easier to optimize hard objective functions. We find experimentally that replacing such saturating activation functions by by noisy variants helps training in many contexts, yielding state-of-the-art results on several datasets, especially when training seems to be the most difficult, e.g., when curriculum learning is necessary to obtain good results.

SOLUTION: Noisy Activation Functions

PROBLEM: We introduce a batched lazy algorithm for supervised classification using decision trees. It avoids unnecessary visits to irrelevant nodes when it is used to make predictions with either eagerly or lazily trained decision trees. A set of experiments demonstrate that the proposed algorithm can outperform both the conventional and lazy decision tree algorithms in terms of computation time as well as memory consumption, without compromising accuracy.

SOLUTION: Batched Lazy Decision Trees

PROBLEM: Generative state estimators based on probabilistic filters and smoothers are one of the most popular classes of state estimators for robots and autonomous vehicles. However, generative models have limited capacity to handle rich sensory observations, such as camera images, since they must model the entire distribution over sensor readings. Discriminative models do not suffer from this limitation, but are typically more complex to train as latent variable models for state estimation. We present an alternative approach where the parameters of the latent state distribution are directly optimized as a deterministic computation graph, resulting in a simple and effective gradient descent algorithm for training discriminative state estimators. We show that this procedure can be used to train state estimators that use complex input, such as raw camera images, which must be processed using expressive nonlinear function approximators such as convolutional neural networks. Our model can be viewed as a type of recurrent neural network, and the connection to probabilistic filtering allows us to design a network architecture that is particularly well suited for state estimation. We evaluate our approach on tracking task with raw image inputs. The results show significant improvement over both standard generative approaches and regular recurrent neural networks.

SOLUTION:
Backprop KF: Learning Discriminative Deterministic State Estimators