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[Fablab Hanoi] 20160618_Talk: Deep Learning & Applications in Visual Sensing for Robotics

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Fablab Hanoi

The document discusses deep learning and its applications. It introduces neural networks and how they are used for tasks like image recognition. Deep learning techniques like convolutional neural networks can be used for computer vision in robotics. The document provides an overview of deep learning concepts and tools for implementing deep learning models, and provides an example of building a convolutional network model with TensorFlow.

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Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Deep Learning & Applications in Visual Sensing for Robotics Son N. Tran June 21, 2016 Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Plan 1 Deep Learning: A Brief Introduction 2 Machine Learning & Deep Learning for Beginers 3 Visual Sensing: How to Recognise Objects 4 Applications in Robotics Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Deep Learning Rumours Deep Learning!!! Sound interesting, huh? Everyone is talking about it. Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics DL in Games Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics DL in Weather Forecasting Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics DL in Healthcare Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics DL in Beauty Industry Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics DL in Robotics Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Neural Networks So, what is deep learning??? Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Neural Networks Let’s start with Neural Networks. Example: x1 = 1, x2 = 0, x3 = 0, x4 = 1 ⇒ h1 = f (2 ∗ 1 + 3 ∗ 0 + 2 ∗ 0 + 1 ∗ 1 + 0.5) = f (3.5). Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Neural Networks Let’s start with Neural Networks. linear: f (x) = x logsig: f (x) = 1/(1 + e−x ) tansig: f (x) = ex −e−x ex +e−x relu (rectifier linear): f (x) = max(0, x + N(0, x)) where N is Normal distribution (Gauss). Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Neural Networks Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Train Neural Networks Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Deeper Networks More number of layers → better prediction? Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Deeper Networks More number of layers → better prediction? No Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Deeper Networks More number of layers → better prediction? No Gradient exploding/diminishing Overfitting Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Unsupervised Learning Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Unsupervised Learning Autoencoder Restricted Boltzmann Machines Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Unsupervised Learning Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Stacking & Layer-wise Pretraining Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Rectifier Linear Units relu (rectifier linear): f (x) = max(0, x + N(0, x)) where N is Normal distribution (Gauss). Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Dropout Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Convolutional Neural Networks: Image input Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Convolutional Neural Networks: What is convolution? Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Convolutional Neural Networks: Stacking Component. Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Convolutional Neural Networks: A Model. Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Plan 1 Deep Learning: A Brief Introduction 2 Machine Learning & Deep Learning for Beginers 3 Visual Sensing: How to Recognise Objects 4 Applications in Robotics Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Skills Programming skills (Python, C/C++, Lua, MATLAB,Java) Matrix Calculation Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Tools TensorFlow: Convnet Theano Caffe Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Online courses Coursera Machine Learning Neural Networks for Machine Learning Udacity Intro to Machine Learning Machine Learning Deep Learning Youtube: mathematicalmonk - Machine Learning Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Private Courses & Mentoring Email: piedu.team@gmail.com Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Coding Example: Convolutional Network with TensorFlow TensorFlow Tensor (multi-dimensional matrix) computation library. Optimization algorithms Reduce coding effort Easy to deploy Cross-platform support Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Coding Example: Convolutional Network with TensorFlow Building graph: 1. with tf.Graph().as default(): 2. images, labels = distorted inputs() 3. logits = build model(images) 4. loss = loss func(logits,labels) 5. train op = train batch(loss,global step) 6. for step in xrange(FLAGS.max steps): 7 , loss value = sess.run([train op, loss]) Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Coding Example: Convolutional Network with TensorFlow 3. logits = build model(images) Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Coding Example: Convolutional Network with TensorFlow 1. filters = tf.get variable(’weights’, shape=[5, 5, 3, 64], initializer=tf.truncated normal initializer(stddev=1e-4)) 2. conv op = tf.nn.conv2d(images, filters, [1, 1, 1, 1], padding=’SAME’) 3. biases = tf.get variable(’biases’, [64], initializer=tf.constant initializer(0.0)) 4. conv bias = tf.nn.bias add(conv op, biases) 5. conv1 = tf.nn.relu(conv bias, name=scope.name) Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Coding Example: Convolutional Network with TensorFlow 1. filters = tf.get variable(’weights’, shape=[5, 5, 3, 64], initializer=tf.truncated normal initializer(stddev=1e-4)) 2. conv op = tf.nn.conv2d(images, filters, [1, 1, 1, 1], padding=’SAME’) 3. biases = tf.get variable(’biases’, [64], initializer=tf.constant initializer(0.0)) 4. conv bias = tf.nn.bias add(conv op, biases) 5. conv1 = tf.nn.relu(conv bias, name=scope.name) Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Coding Example: Convolutional Network with TensorFlow 1. filters = tf.get variable(’weights’, shape=[5, 5, 3, 64], initializer=tf.truncated normal initializer(stddev=1e-4)) 2. conv op = tf.nn.conv2d(images, filters, [1, 1, 1, 1], padding=’SAME’) 3. biases = tf.get variable(’biases’, [64], initializer=tf.constant initializer(0.0)) 4. conv bias = tf.nn.bias add(conv op, biases) 5. conv1 = tf.nn.relu(conv bias, name=scope.name) Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Coding Example: Convolutional Network with TensorFlow 1. filters = tf.get variable(’weights’, shape=[5, 5, 3, 64], initializer=tf.truncated normal initializer(stddev=1e-4)) 2. conv op = tf.nn.conv2d(images, filters, [1, 1, 1, 1], padding=’SAME’) 3. biases = tf.get variable(’biases’, [64], initializer=tf.constant initializer(0.0)) 4. conv bias = tf.nn.bias add(conv op, biases) 5. conv1 = tf.nn.relu(conv bias, name=scope.name) Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Coding Example: Convolutional Network with TensorFlow 1. filters = tf.get variable(’weights’, shape=[5, 5, 3, 64], initializer=tf.truncated normal initializer(stddev=1e-4)) 2. conv op = tf.nn.conv2d(images, filters, [1, 1, 1, 1], padding=’SAME’) 3. biases = tf.get variable(’biases’, [64], initializer=tf.constant initializer(0.0)) 4. conv bias = tf.nn.bias add(conv op, biases) 5. conv1 = tf.nn.relu(conv bias, name=scope.name) Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Coding Example: Convolutional Network with TensorFlow 1. pool1 = tf.nn.max pool(conv1, ksize=[1, 3, 3, 1], strides=[1, 2, 2, 1], padding=’SAME’, name=’pool1’) 2. norm1 = tf.nn.lrn(pool1, 4, bias=1.0, alpha=0.001 / 9.0, beta=0.75, name=’norm1’) Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Coding Example: Convolutional Network with TensorFlow 3. logits = build model(images) Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Plan 1 Deep Learning: A Brief Introduction 2 Machine Learning & Deep Learning for Beginers 3 Visual Sensing: How to Recognise Objects 4 Applications in Robotics Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Object Localisation Selective search: Demo Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Object Localisation Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Object Localisation Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Recognition model Use Object Localisation techniques to generate candidate objects. Extract the bounding-boxes and use them to train another Deep CNN for prediction or Train a single deep CNN for both localisation and recognition. Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Regconition: demo Demo: http://demo.bagiks.com Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Bagiks Team Bagiks team: http://www.bagiks.com/ Interested in using/helping to improve the solutions? contact team@bagiks.com Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Plan 1 Deep Learning: A Brief Introduction 2 Machine Learning & Deep Learning for Beginers 3 Visual Sensing: How to Recognise Objects 4 Applications in Robotics Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Camera Sensor Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Driverless Car Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Serving Robots Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics and more ... Cleaner robot. Personal assistant Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics THANKS! PiEdu Bagiks Thank you. Contact Presenter: sontn.fz@gmail.com Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics

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[Fablab Hanoi] 20160618_Talk: Deep Learning & Applications in Visual Sensing for Robotics

  • 1. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Deep Learning & Applications in Visual Sensing for Robotics Son N. Tran June 21, 2016 Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 2. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Plan 1 Deep Learning: A Brief Introduction 2 Machine Learning & Deep Learning for Beginers 3 Visual Sensing: How to Recognise Objects 4 Applications in Robotics Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 3. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Deep Learning Rumours Deep Learning!!! Sound interesting, huh? Everyone is talking about it. Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 4. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics DL in Games Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 5. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics DL in Weather Forecasting Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 6. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics DL in Healthcare Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 7. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics DL in Beauty Industry Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 8. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics DL in Robotics Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 9. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Neural Networks So, what is deep learning??? Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 10. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Neural Networks Let’s start with Neural Networks. Example: x1 = 1, x2 = 0, x3 = 0, x4 = 1 ⇒ h1 = f (2 ∗ 1 + 3 ∗ 0 + 2 ∗ 0 + 1 ∗ 1 + 0.5) = f (3.5). Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 11. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Neural Networks Let’s start with Neural Networks. linear: f (x) = x logsig: f (x) = 1/(1 + e−x ) tansig: f (x) = ex −e−x ex +e−x relu (rectifier linear): f (x) = max(0, x + N(0, x)) where N is Normal distribution (Gauss). Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 12. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Neural Networks Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 13. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Train Neural Networks Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 14. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Deeper Networks More number of layers → better prediction? Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 15. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Deeper Networks More number of layers → better prediction? No Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 16. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Deeper Networks More number of layers → better prediction? No Gradient exploding/diminishing Overfitting Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 17. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Unsupervised Learning Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 18. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Unsupervised Learning Autoencoder Restricted Boltzmann Machines Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 19. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Unsupervised Learning Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 20. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Stacking & Layer-wise Pretraining Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 21. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Rectifier Linear Units relu (rectifier linear): f (x) = max(0, x + N(0, x)) where N is Normal distribution (Gauss). Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 22. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Dropout Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 23. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Convolutional Neural Networks: Image input Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 24. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Convolutional Neural Networks: What is convolution? Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 25. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Convolutional Neural Networks: Stacking Component. Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 26. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Convolutional Neural Networks: A Model. Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 27. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Plan 1 Deep Learning: A Brief Introduction 2 Machine Learning & Deep Learning for Beginers 3 Visual Sensing: How to Recognise Objects 4 Applications in Robotics Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 28. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Skills Programming skills (Python, C/C++, Lua, MATLAB,Java) Matrix Calculation Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 29. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Tools TensorFlow: Convnet Theano Caffe Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 30. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Online courses Coursera Machine Learning Neural Networks for Machine Learning Udacity Intro to Machine Learning Machine Learning Deep Learning Youtube: mathematicalmonk - Machine Learning Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 31. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Private Courses & Mentoring Email: piedu.team@gmail.com Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 32. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Coding Example: Convolutional Network with TensorFlow TensorFlow Tensor (multi-dimensional matrix) computation library. Optimization algorithms Reduce coding effort Easy to deploy Cross-platform support Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 33. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Coding Example: Convolutional Network with TensorFlow Building graph: 1. with tf.Graph().as default(): 2. images, labels = distorted inputs() 3. logits = build model(images) 4. loss = loss func(logits,labels) 5. train op = train batch(loss,global step) 6. for step in xrange(FLAGS.max steps): 7 , loss value = sess.run([train op, loss]) Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 34. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Coding Example: Convolutional Network with TensorFlow 3. logits = build model(images) Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 35. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Coding Example: Convolutional Network with TensorFlow 1. filters = tf.get variable(’weights’, shape=[5, 5, 3, 64], initializer=tf.truncated normal initializer(stddev=1e-4)) 2. conv op = tf.nn.conv2d(images, filters, [1, 1, 1, 1], padding=’SAME’) 3. biases = tf.get variable(’biases’, [64], initializer=tf.constant initializer(0.0)) 4. conv bias = tf.nn.bias add(conv op, biases) 5. conv1 = tf.nn.relu(conv bias, name=scope.name) Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 36. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Coding Example: Convolutional Network with TensorFlow 1. filters = tf.get variable(’weights’, shape=[5, 5, 3, 64], initializer=tf.truncated normal initializer(stddev=1e-4)) 2. conv op = tf.nn.conv2d(images, filters, [1, 1, 1, 1], padding=’SAME’) 3. biases = tf.get variable(’biases’, [64], initializer=tf.constant initializer(0.0)) 4. conv bias = tf.nn.bias add(conv op, biases) 5. conv1 = tf.nn.relu(conv bias, name=scope.name) Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 37. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Coding Example: Convolutional Network with TensorFlow 1. filters = tf.get variable(’weights’, shape=[5, 5, 3, 64], initializer=tf.truncated normal initializer(stddev=1e-4)) 2. conv op = tf.nn.conv2d(images, filters, [1, 1, 1, 1], padding=’SAME’) 3. biases = tf.get variable(’biases’, [64], initializer=tf.constant initializer(0.0)) 4. conv bias = tf.nn.bias add(conv op, biases) 5. conv1 = tf.nn.relu(conv bias, name=scope.name) Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 38. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Coding Example: Convolutional Network with TensorFlow 1. filters = tf.get variable(’weights’, shape=[5, 5, 3, 64], initializer=tf.truncated normal initializer(stddev=1e-4)) 2. conv op = tf.nn.conv2d(images, filters, [1, 1, 1, 1], padding=’SAME’) 3. biases = tf.get variable(’biases’, [64], initializer=tf.constant initializer(0.0)) 4. conv bias = tf.nn.bias add(conv op, biases) 5. conv1 = tf.nn.relu(conv bias, name=scope.name) Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 39. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Coding Example: Convolutional Network with TensorFlow 1. filters = tf.get variable(’weights’, shape=[5, 5, 3, 64], initializer=tf.truncated normal initializer(stddev=1e-4)) 2. conv op = tf.nn.conv2d(images, filters, [1, 1, 1, 1], padding=’SAME’) 3. biases = tf.get variable(’biases’, [64], initializer=tf.constant initializer(0.0)) 4. conv bias = tf.nn.bias add(conv op, biases) 5. conv1 = tf.nn.relu(conv bias, name=scope.name) Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 40. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Coding Example: Convolutional Network with TensorFlow 1. pool1 = tf.nn.max pool(conv1, ksize=[1, 3, 3, 1], strides=[1, 2, 2, 1], padding=’SAME’, name=’pool1’) 2. norm1 = tf.nn.lrn(pool1, 4, bias=1.0, alpha=0.001 / 9.0, beta=0.75, name=’norm1’) Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 41. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Coding Example: Convolutional Network with TensorFlow 3. logits = build model(images) Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 42. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Plan 1 Deep Learning: A Brief Introduction 2 Machine Learning & Deep Learning for Beginers 3 Visual Sensing: How to Recognise Objects 4 Applications in Robotics Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 43. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Object Localisation Selective search: Demo Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 44. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Object Localisation Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 45. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Object Localisation Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 46. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Recognition model Use Object Localisation techniques to generate candidate objects. Extract the bounding-boxes and use them to train another Deep CNN for prediction or Train a single deep CNN for both localisation and recognition. Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 47. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Regconition: demo Demo: http://demo.bagiks.com Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 48. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Bagiks Team Bagiks team: http://www.bagiks.com/ Interested in using/helping to improve the solutions? contact team@bagiks.com Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 49. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Plan 1 Deep Learning: A Brief Introduction 2 Machine Learning & Deep Learning for Beginers 3 Visual Sensing: How to Recognise Objects 4 Applications in Robotics Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 50. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Camera Sensor Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 51. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Driverless Car Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 52. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics Serving Robots Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 53. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics and more ... Cleaner robot. Personal assistant Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics
  • 54. Deep Learning: A Brief Introduction Machine Learning & Deep Learning for Beginers Visual Sensing: How to Recognise Objects Applications in Robotics THANKS! PiEdu Bagiks Thank you. Contact Presenter: sontn.fz@gmail.com Son N. Tran Deep Learning & Applications in Visual Sensing for Robotics