IEEE Robotics & Automation Magazine - June 2020 - 76

Loss

Convolutional
Layers

Dense Units

0

0.2

0.1
0.08
0.06
0.04
0.02
0
0.1

0.2

0.2

Optimal

128
64
8
0.1

256

512

1
0.1

2

3

4

5

0.1

0.2

0.5

1

Loss
(h)

Loss
(e)

Loss
(b)

50

0.5

0.5

0.5

1

1

1

128
64
8
0.1

256

512

0.2

0.2

0.5
0.4
0.3
0.2
0.1
0
0.1

0.2

ReLU
0.1

ELU

100

Convolutional
Filters

Loss
(i)

Loss
(f)

Loss
(c)

150
Trial
(a)

0.5

0.5

0.5

1

1

1

200

32
16
0.1

64

0.2

0.2

0.1
0.08
0.06
0.04
0.02
0
0.1

128

0.2

1
0.1

2

3

4

5

250

Loss
(j)

Loss
(g)

Loss
(d)

0.5

0.5

0.5

1

1

1

300

Figure 10. The hyperparameter optimization for the 3D edge. (a) The loss against trial number. (b)-(j) The hyperparameter dependence on the loss, for each of the parameters in
Table 2.

L2 Norm

JUNE 2020

Activation
Function

*
Dropout

Dense Layers

IEEE ROBOTICS & AUTOMATION MAGAZINE

L1 Norm

*
Batch Size

76



IEEE Robotics & Automation Magazine - June 2020

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