IEEE Robotics & Automation Magazine - June 2020 - 73

JUNE 2020

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IEEE ROBOTICS & AUTOMATION MAGAZINE

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Loss

0.05

2
0.5

0

0.05

0.05

0.05

0.5
Loss
(h)

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Loss
(e)

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(b)

50

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20

128
64
8
0.005

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512

0.5
0.4
0.3
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0
0.005

ReLU
0.005

ELU

100

0.05

0.05

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Loss
(i)

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Loss
(f)

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(c)

150
Trial
(a)

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200

32
16
0.005

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128

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250

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(j)

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(g)

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(d)

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5

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20

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20

300

Figure 8. The hyperparameter optimization for the 3D surface. (a) The loss against the trial number. (b)-(j) The hyperparameter dependence on the loss, for each of the parameters
in Table 2. The optimal network is to the left of the scatter plot.

0.1
0.08
0.06
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128
64
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1
0.005

2 Optimal

3

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Convolutional
Layers

Dense Units

L2 Norm

Convolutional
Filters
Activation
Function
Dropout

Dense Layers
L1 Norm
Batch Size



IEEE Robotics & Automation Magazine - June 2020

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - June 2020

Contents
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IEEE Robotics & Automation Magazine - June 2020 - Cover3
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