The ability to identify and localize new objects robustly and effectively is vital for robotic grasping and manipulation in warehouses or smart factories. Deep convolutional neural networks (DCNNs) have achieved the state-of-the-art performance on established image datasets for object detection and segmentation. However, applying DCNNs in dynamic industrial scenarios, e.g., warehouses and autonomous production, remains a challenging problem. DCNNs quickly become ineffective when tasked with detecting objects that they have not been trained on. Given that re-training using the latest data is time consuming, DCNNs cannot meet the requirement of the Factory of the Future (FoF) regarding rapid development and production cycles. To address this problem, we propose a novel one-shot object segmentation framework, using a fully convolutional Siamese network architecture, to detect previously unknown objects based on a single prototype image. We turn to multi-task learning to reduce training time and improve classification accuracy. Furthermore, we introduce a novel approach to automatically cluster the learnt feature space representation in a weakly supervised manner. We test the proposed framework on the RoboCup@Work dataset, simulating requirements for the FoF. Results show that the trained network on average identifies 73% of previously unseen objects correctly from a single example image. Correctly identified objects are estimated to have a 87.53% successful pick-up rate. Finally, multi-task learning lowers the convergence time by up to 33%, and increases accuracy by 2.99%.
http://arxiv.org/abs/1903.00683
Pedestrian detection is one of the most explored topics in computer vision and robotics. The use of deep learning methods allowed the development of new and highly competitive algorithms. Deep Reinforcement Learning has proved to be within the state-of-the-art in terms of both detection in perspective cameras and robotics applications. However, for detection in omnidirectional cameras, the literature is still scarce, mostly because of their high levels of distortion. This paper presents a novel and efficient technique for robust pedestrian detection in omnidirectional images. The proposed method uses deep Reinforcement Learning that takes advantage of the distortion in the image. By considering the 3D bounding boxes and their distorted projections into the image, our method is able to provide the pedestrian’s position in the world, in contrast to the image positions provided by most state-of-the-art methods for perspective cameras. Our method avoids the need of pre-processing steps to remove the distortion, which is computationally expensive. Beyond the novel solution, our method compares favorably with the state-of-the-art methodologies that do not consider the underlying distortion for the detection task.
http://arxiv.org/abs/1903.00676
Humanoid robots are playing increasingly important roles in real-life tasks especially when it comes to indoor applications. Providing robust solutions for the tasks such as indoor environment mapping, self-localisation and object recognition are essential to make the robots to be more autonomous, hence, more human-like. The well-known Aldebaran service robot Pepper is a suitable candidate for achieving these goals. In this paper, a hybrid system combining Simultaneous Localisation and Mapping (SLAM) algorithm with object recognition is developed and tested with Pepper robot in real-world conditions for the first time. The ORB SLAM 2 algorithm was taken as a seminal work in our research. Then, an object recognition technique based on Scale-Invariant Feature Transform (SIFT) and Random Sample Consensus (RANSAC) was combined with SLAM to recognise and localise objects in the mapped indoor environment. The results of our experiments showed the system’s applicability for the Pepper robot in real-world scenarios. Moreover, we made our source code available for the community at \url{https://github.com/PaolaArdon/Salt-Pepper}.
http://arxiv.org/abs/1903.00675
Autonomous robotic grasping plays an important role in intelligent robotics. However, how to help the robot grasp specific objects in object stacking scenes is still an open problem, because there are two main challenges for autonomous robots: (1)it is a comprehensive task to know what and how to grasp; (2)it is hard to deal with the situations in which the target is hidden or covered by other objects. In this paper, we propose a multi-task convolutional neural network for autonomous robotic grasping, which can help the robot find the target, make the plan for grasping and finally grasp the target step by step in object stacking scenes. We integrate vision-based robotic grasping detection and visual manipulation relationship reasoning in one single deep network and build the autonomous robotic grasping system. Experimental results demonstrate that with our model, Baxter robot can autonomously grasp the target with a success rate of 90.6%, 71.9% and 59.4% in object cluttered scenes, familiar stacking scenes and complex stacking scenes respectively.
http://arxiv.org/abs/1809.07081
This short paper presents the design decisions taken and challenges encountered in completing SemEval Task 6, which poses the problem of identifying and categorizing offensive language in tweets. Our proposed solutions explore Deep Learning techniques, Linear Support Vector classification and Random Forests to identify offensive tweets, to classify offenses as targeted or untargeted and eventually to identify the target subject type.
http://arxiv.org/abs/1903.00665
We present a novel human-aware navigation approach, where the robot learns to mimic humans to navigate safely in crowds. The presented model referred to as DeepMoTIon, is trained with pedestrian surveillance data to predict human velocity. The robot processes LiDAR scans via the trained network to navigate to the target location. We conduct extensive experiments to assess the different components of our network and prove the necessity of each to imitate humans. Our experiments show that DeepMoTIon outperforms state-of-the-art in terms of human imitation and reaches the target on 100% of the test cases without breaching humans’ safe distance.
http://arxiv.org/abs/1803.03719
Blockchain is a disruptive technology that is normally used within financial applications, however it can be very beneficial also in certain robotic contexts, such as when an immutable register of events is required. Among the several properties of Blockchain that can be useful within robotic environments, we find not just immutability but also decentralization of the data, irreversibility, accessibility and non-repudiation. In this paper, we propose an architecture that uses blockchain as a ledger and smart-contract technology for robotic control by using external parties, Oracles, to process data. We show how to register events in a secure way, how it is possible to use smart-contracts to control robots and how to interface with external Artificial Intelligence algorithms for image analysis. The proposed architecture is modular and can be used in multiple contexts such as in manufacturing, network control, robot control, and others, since it is easy to integrate, adapt, maintain and extend to new domains.
http://arxiv.org/abs/1903.00660
Neural networks in the real domain have been studied for a long time and achieved promising results in many vision tasks for recent years. However, the extensions of the neural network models in other number fields and their potential applications are not fully-investigated yet. Focusing on color images, which can be naturally represented as quaternion matrices, we propose a quaternion convolutional neural network (QCNN) model to obtain more representative features. In particular, we redesign the basic modules like convolution layer and fully-connected layer in the quaternion domain, which can be used to establish fully-quaternion convolutional neural networks. Moreover, these modules are compatible with almost all deep learning techniques and can be plugged into traditional CNNs easily. We test our QCNN models in both color image classification and denoising tasks. Experimental results show that they outperform the real-valued CNNs with same structures.
http://arxiv.org/abs/1903.00658
In this paper, we focus on the challenging perception problem in robotic pouring. Most of the existing approaches either leverage visual or haptic information. However, these techniques may suffer from poor generalization performances on opaque containers or concerning measuring precision. To tackle these drawbacks, we propose to make use of audio vibration sensing and design a deep neural network PouringNet to predict the liquid height from the audio fragment during the robotic pouring task. PouringNet is trained on our collected real-world pouring dataset with multimodal sensing data, which contains more than 3000 recordings of audio, force feedback, video and trajectory data of the human hand that performs the pouring task. Each record represents a complete pouring procedure. We conduct several evaluations on PouringNet with our dataset and robotic hardware. The results demonstrate that our PouringNet generalizes well across different liquid containers, positions of the audio receiver, initial liquid heights and types of liquid, and facilitates a more robust and accurate audio-based perception for robotic pouring.
http://arxiv.org/abs/1903.00650
In robot swarms operating under highly restrictive sensing and communication constraints, individuals may need to use direct physical proximity to facilitate information exchange. However, in certain task-related scenarios, this requirement might conflict with the need for robots to spread out in the environment, e.g., for distributed sensing or surveillance applications. This paper demonstrates how a swarm of minimally-equipped robots can form high-density robot aggregates which coexist with lower robot densities in the domain. We envision a scenario where a swarm of vibration-driven robots—which sit atop bristles and achieve directed motion by vibrating them—move somewhat randomly in an environment while colliding with each other. Theoretical techniques from the study of far-from-equilibrium collectives and statistical mechanics clarify the mechanisms underlying the formation of these high and low density regions. Specifically, we capitalize on a transformation that connects the collective properties of a system of self-propelled particles with that of a well-studied molecular fluid system, thereby inheriting the rich theory of equilibrium thermodynamics. This connection is a formal one and is a relatively recent result in studies of motility induced phase separation; it is previously unexplored in the context of robotics. Real robot experiments as well as simulations illustrate how inter-robot collisions can precipitate the formation of non-uniform robot densities in a closed and bounded region.
https://arxiv.org/abs/1902.10662
Planning dual-arm assembly of more than three objects is a challenging Task and Motion Planning (TAMP) problem. The assembly planner shall consider not only the pose constraints of objects and robots, but also the gravitational constraints that may break the finished part. This paper proposes a planner to plan the dual-arm assembly of more than three objects. It automatically generates the grasp configurations and assembly poses, and simultaneously searches and backtracks the grasp space and assembly space to accelerate the motion planning of robot arms. Meanwhile, the proposed method considers gravitational constraints during robot motion planning to avoid breaking the finished part. In the experiments and analysis section, the time cost of each process and the influence of different parameters used in the proposed planner are compared and analyzed. The optimal values are used to perform real-world executions of various robotic assembly tasks. The planner is proved to be robust and efficient through the experiments.
http://arxiv.org/abs/1903.00646
We present a method for planning robust grasps over uncertain shape completed objects. For shape completion, a deep neural network is trained to take a partial view of the object as input and outputs the completed shape as a voxel grid. The key part of the network is dropout layers which are enabled not only during training but also at run-time to generate a set of shape samples representing the shape uncertainty through Monte Carlo sampling. Given the set of shape completed objects, we generate grasp candidates on the mean object shape but evaluate them based on their joint performance in terms of analytical grasp metrics on all the shape candidates. We experimentally validate and benchmark our method against another state-of-the-art method with a Barrett hand on 90000 grasps in simulation and 100 on a real Franka Emika Panda. All experimental results show statistically significant improvements both in terms of grasp quality metrics and grasp success rate, demonstrating that planning shape-uncertainty-aware grasps brings significant advantages over solely planning on a single shape estimate, especially when dealing with complex or unknown objects.
http://arxiv.org/abs/1903.00645
The decision and planning system for autonomous driving in urban environments is hard to design. Most current methods are to manually design the driving policy, which can be sub-optimal and expensive to develop and maintain at scale. Instead, with imitation learning we only need to collect data and then the computer will learn and improve the driving policy automatically. However, existing imitation learning methods for autonomous driving are hardly performing well for complex urban scenarios. Moreover, the safety is not guaranteed when we use a deep neural network policy. In this paper, we proposed a framework to learn the driving policy in urban scenarios efficiently given offline connected driving data, with a safety controller incorporated to guarantee safety at test time. The experiments show that our method can achieve high performance in realistic three-dimensional simulations of urban driving scenarios, with only hours of data collection and training on a single consumer GPU.
http://arxiv.org/abs/1903.00640
Much work in robotics has focused on “human-in-the-loop’’ learning techniques that improve the efficiency of the learning process. However, these algorithms have made the strong assumption of a cooperating human supervisor that assists the robot. In reality, human observers tend to also act in an adversarial manner towards deployed robotic systems. We show that this can in fact improve the robustness of the learned models by proposing a physical framework that leverages perturbations applied by a human adversary, guiding the robot towards more robust models. In a manipulation task, we show that grasping success improves significantly when the robot trains with a human adversary as compared to training in a self-supervised manner.
http://arxiv.org/abs/1903.00636
We evaluate different state representation methods in robot hand-eye coordination learning on different aspects. Regarding state dimension reduction: we evaluates how these state representation methods capture relevant task information and how much compactness should a state representation be. Regarding controllability: experiments are designed to use different state representation methods in a traditional visual servoing controller and a REINFORCE controller. We analyze the challenges arisen from the representation itself other than from control algorithms. Regarding embodiment problem in LfD: we evaluate different method’s capability in transferring learned representation from human to robot. Results are visualized for better understanding and comparison.
http://arxiv.org/abs/1903.00634
We motivate and present feature selective anchor-free (FSAF) module, a simple and effective building block for single-shot object detectors. It can be plugged into single-shot detectors with feature pyramid structure. The FSAF module addresses two limitations brought up by the conventional anchor-based detection: 1) heuristic-guided feature selection; 2) overlap-based anchor sampling. The general concept of the FSAF module is online feature selection applied to the training of multi-level anchor-free branches. Specifically, an anchor-free branch is attached to each level of the feature pyramid, allowing box encoding and decoding in the anchor-free manner at an arbitrary level. During training, we dynamically assign each instance to the most suitable feature level. At the time of inference, the FSAF module can work jointly with anchor-based branches by outputting predictions in parallel. We instantiate this concept with simple implementations of anchor-free branches and online feature selection strategy. Experimental results on the COCO detection track show that our FSAF module performs better than anchor-based counterparts while being faster. When working jointly with anchor-based branches, the FSAF module robustly improves the baseline RetinaNet by a large margin under various settings, while introducing nearly free inference overhead. And the resulting best model can achieve a state-of-the-art 44.6% mAP, outperforming all existing single-shot detectors on COCO.
http://arxiv.org/abs/1903.00621
RGB images differentiate from depth images as they carry more details about the color and texture information, which can be utilized as a vital complementary to depth for boosting the performance of 3D semantic scene completion (SSC). SSC is composed of 3D shape completion (SC) and semantic scene labeling while most of the existing methods use depth as the sole input which causes the performance bottleneck. Moreover, the state-of-the-art methods employ 3D CNNs which have cumbersome networks and tremendous parameters. We introduce a light-weight Dimensional Decomposition Residual network (DDR) for 3D dense prediction tasks. The novel factorized convolution layer is effective for reducing the network parameters, and the proposed multi-scale fusion mechanism for depth and color image can improve the completion and segmentation accuracy simultaneously. Our method demonstrates excellent performance on two public datasets. Compared with the latest method SSCNet, we achieve 5.9% gains in SC-IoU and 5.7% gains in SSC-IOU, albeit with only 21% network parameters and 16.6% FLOPs employed compared with that of SSCNet.
http://arxiv.org/abs/1903.00620
Recognizing abnormal events such as traffic violations and accidents in natural driving scenes is essential for successful autonomous and advanced driver assistance systems. However, most work on video anomaly detection suffers from one of two crucial drawbacks. First, it assumes cameras are fixed and videos have a static background, which is reasonable for surveillance applications but not for vehicle-mounted cameras. Second, it poses the problem as one-class classification, which relies on arduous human annotation and only recognizes categories of anomalies that have been explicitly trained. In this paper, we propose an unsupervised approach for traffic accident detection in first-person videos. Our major novelty is to detect anomalies by predicting the future locations of traffic participants and then monitoring the prediction accuracy and consistency metrics with three different strategies. To evaluate our approach, we introduce a new dataset of diverse traffic accidents, AnAn Accident Detection (A3D), as well as another publicly-available dataset. Experimental results show that our approach outperforms the state-of-the-art.
http://arxiv.org/abs/1903.00618
The main obstacle to weakly supervised semantic image segmentation is the difficulty of obtaining pixel-level information from coarse image-level annotations. Most methods based on image-level annotations use localization maps obtained from the classifier, but these only focus on the small discriminative parts of objects and do not capture precise boundaries. FickleNet explores diverse combinations of locations on feature maps created by generic deep neural networks. It selects hidden units randomly and then uses them to obtain activation scores for image classification. FickleNet implicitly learns the coherence of each location in the feature maps, resulting in a localization map which identifies both discriminative and other parts of objects. The ensemble effects are obtained from a single network by selecting random hidden unit pairs, which means that a variety of localization maps are generated from a single image. Our approach does not require any additional training steps and only adds a simple layer to a standard convolutional neural network; nevertheless it outperforms recent comparable techniques on the Pascal VOC 2012 benchmark in both weakly and semi-supervised settings.
https://arxiv.org/abs/1902.10421
Neonatal brain segmentation in magnetic resonance (MR) is a challenging problem due to poor image quality and low contrast between white and gray matter regions. Most existing approaches for this problem are based on multi-atlas label fusion strategies, which are time-consuming and sensitive to registration errors. As alternative to these methods, we propose a hyper-densely connected 3D convolutional neural network that employs MR-T1 and T2 images as input, which are processed independently in two separated paths. An important difference with previous densely connected networks is the use of direct connections between layers from the same and different paths. Adopting such dense connectivity helps the learning process by including deep supervision and improving gradient flow. We evaluated our approach on data from the MICCAI Grand Challenge on 6-month infant Brain MRI Segmentation (iSEG), obtaining very competitive results. Among 21 teams, our approach ranked first or second in most metrics, translating into a state-of-the-art performance.
http://arxiv.org/abs/1710.05956
One of the main challenges in reinforcement learning is solving tasks with sparse reward. We show that the difficulty of discovering a distant rewarding state in an MDP is bounded by the expected cover time of a random walk over the graph induced by the MDP’s transition dynamics. We therefore propose to accelerate exploration by constructing options that minimize cover time. The proposed algorithm finds an option which provably diminishes the expected number of steps to visit every state in the state space by a uniform random walk. We show empirically that the proposed algorithm improves the learning time in several domains with sparse rewards.
http://arxiv.org/abs/1903.00606
Recently, dense connections have attracted substantial attention in computer vision because they facilitate gradient flow and implicit deep supervision during training. Particularly, DenseNet, which connects each layer to every other layer in a feed-forward fashion, has shown impressive performances in natural image classification tasks. We propose HyperDenseNet, a 3D fully convolutional neural network that extends the definition of dense connectivity to multi-modal segmentation problems. Each imaging modality has a path, and dense connections occur not only between the pairs of layers within the same path, but also between those across different paths. This contrasts with the existing multi-modal CNN approaches, in which modeling several modalities relies entirely on a single joint layer (or level of abstraction) for fusion, typically either at the input or at the output of the network. Therefore, the proposed network has total freedom to learn more complex combinations between the modalities, within and in-between all the levels of abstraction, which increases significantly the learning representation. We report extensive evaluations over two different and highly competitive multi-modal brain tissue segmentation challenges, iSEG 2017 and MRBrainS 2013, with the former focusing on 6-month infant data and the latter on adult images. HyperDenseNet yielded significant improvements over many state-of-the-art segmentation networks, ranking at the top on both benchmarks. We further provide a comprehensive experimental analysis of features re-use, which confirms the importance of hyper-dense connections in multi-modal representation learning. Our code is publicly available at https://www.github.com/josedolz/HyperDenseNet.
http://arxiv.org/abs/1804.02967
Despite impressive performance as evaluated on i.i.d. holdout data, deep neural networks depend heavily on superficial statistics of the training data and are liable to break under distribution shift. For example, subtle changes to the background or texture of an image can break a seemingly powerful classifier. Building on previous work on domain generalization, we hope to produce a classifier that will generalize to previously unseen domains, even when domain identifiers are not available during training. This setting is challenging because the model may extract many distribution-specific (superficial) signals together with distribution-agnostic (semantic) signals. To overcome this challenge, we incorporate the gray-level co-occurrence matrix (GLCM) to extract patterns that our prior knowledge suggests are superficial: they are sensitive to the texture but unable to capture the gestalt of an image. Then we introduce two techniques for improving our networks’ out-of-sample performance. The first method is built on the reverse gradient method that pushes our model to learn representations from which the GLCM representation is not predictable. The second method is built on the independence introduced by projecting the model’s representation onto the subspace orthogonal to GLCM representation’s. We test our method on the battery of standard domain generalization data sets and, interestingly, achieve comparable or better performance as compared to other domain generalization methods that explicitly require samples from the target distribution for training.
http://arxiv.org/abs/1903.06256
Point of care ultrasound (POCUS) consists in the use of ultrasound imaging in critical or emergency situations to support clinical decisions by healthcare professionals and first responders. In this setting it is essential to be able to provide means to obtain diagnostic data to potentially inexperienced users who did not receive an extensive medical training. Interpretation and acquisition of ultrasound images is not trivial. First, the user needs to find a suitable sound window which can be used to get a clear image, and then he needs to correctly interpret it to perform a diagnosis. Although many recent approaches focus on developing smart ultrasound devices that add interpretation capabilities to existing systems, our goal in this paper is to present a reinforcement learning (RL) strategy which is capable to guide novice users to the correct sonic window and enable them to obtain clinically relevant pictures of the anatomy of interest. We apply our approach to cardiac images acquired from the parasternal long axis (PLAx) view of the left ventricle of the heart.
http://arxiv.org/abs/1903.00586
Deep neural networks are widely used and exhibit excellent performance in many areas. However, they are vulnerable to adversarial attacks that compromise the network at the inference time by applying elaborately designed perturbation to input data. Although several defense methods have been proposed to address specific attacks, other attack methods can circumvent these defense mechanisms. Therefore, we propose Purifying Variational Autoencoder (PuVAE), a method to purify adversarial examples. The proposed method eliminates an adversarial perturbation by projecting an adversarial example on the manifold of each class, and determines the closest projection as a purified sample. We experimentally illustrate the robustness of PuVAE against various attack methods without any prior knowledge. In our experiments, the proposed method exhibits performances competitive with state-of-the-art defense methods, and the inference time is approximately 130 times faster than that of Defense-GAN that is the state-of-the art purifier model.
http://arxiv.org/abs/1903.00585
Classic supervised learning makes the closed-world assumption, meaning that classes seen in testing must have been seen in training. However, in the dynamic world, new or unseen class examples may appear constantly. A model working in such an environment must be able to reject unseen classes (not seen or used in training). If enough data is collected for the unseen classes, the system should incrementally learn to accept/classify them. This learning paradigm is called open-world learning (OWL). Existing OWL methods all need some form of re-training to accept or include the new classes in the overall model. In this paper, we propose a meta-learning approach to the problem. Its key novelty is that it only needs to train a meta-classifier, which can then continually accept new classes when they have enough labeled data for the meta-classifier to use, and also detect/reject future unseen classes. No re-training of the meta-classifier or a new overall classifier covering all old and new classes is needed. In testing, the method only uses the examples of the seen classes (including the newly added classes) on-the-fly for classification and rejection. Experimental results demonstrate the effectiveness of the new approach.
http://arxiv.org/abs/1809.06004
In this letter, we report the operation of AlGaN/GaN HEMTs with Pd gates in air over a wide temperature range from 22$^\circ$C to 500$^\circ$C. The variation in the threshold voltage ($V_{th}$) is less than 1$\%$ over the entire temperature range. Moreover, a safe biasing region where the transconductance peak ($g_m$) occurs over the entire temperature range was observed, enabling high-temperature analog circuit design. Furthermore, the operation of the devices over 25 hours was experimentally studied, demonstrating the stability of the DC characteristics and $V_{th}$ at 400$^\circ$C. Finally, the degradation mechanisms of HEMTs at 500$^\circ$C over 25 hours of operation are discussed, and are shown to be associated with the 2DEG sheet density and mobility decrease.
https://arxiv.org/abs/1903.00572
Small unmanned aircraft can help firefighters combat wildfires by providing real-time surveillance of the growing fires. However, guiding the aircraft autonomously given only wildfire images is a challenging problem. This work models noisy images obtained from on-board cameras and proposes two approaches to filtering the wildfire images. The first approach uses a simple Kalman filter to reduce noise and update a belief map in observed areas. The second approach uses a particle filter to predict wildfire growth and uses observations to estimate uncertainties relating to wildfire expansion. The belief maps are used to train a deep reinforcement learning controller, which learns a policy to navigate the aircraft to survey the wildfire while avoiding flight directly over the fire. Simulation results show that the proposed controllers precisely guide the aircraft and accurately estimate wildfire growth, and a study of observation noise demonstrates the robustness of the particle filter approach.
http://arxiv.org/abs/1810.02455
The current algorithms are based on linear model, for example, Precision Time Protocol (PTP) which requires frequent synchronization in order to handle the effects of clock frequency drift. This paper introduces a nonlinear approach to clock time synchronize. This approach can accurately model the frequency shift. Therefore, the required time interval to synchronize clocks can be longer. Meanwhile, it also offers better performance and relaxes the synchronization process. The idea of the nonlinear algorithm and some numerical examples will be presented in this paper in detail.
http://arxiv.org/abs/1903.00545
We consider two regret minimisation problems over subsets of a finite ground set $[n]$, with subset-wise relative preference information feedback according to the Multinomial logit choice model. The first setting requires the learner to test subsets of size bounded by a maximum size followed by receiving top-$m$ rank-ordered feedback, while in the second setting the learner is restricted to play subsets of a fixed size $k$ with a full ranking observed as feedback. For both settings, we devise new, order-optimal regret algorithms, and derive fundamental limits on the regret performance of online learning with subset-wise preferences. Our results also show the value of eliciting a general top $m$-rank-ordered feedback over single winner feedback ($m=1$).
http://arxiv.org/abs/1903.00543
Most existing person re-identification (re-id) methods rely on supervised model learning on per-camera-pair manually labelled pairwise training data. This leads to poor scalability in a practical re-id deployment, due to the lack of exhaustive identity labelling of positive and negative image pairs for every camera-pair. In this work, we present an unsupervised re-id deep learning approach. It is capable of incrementally discovering and exploiting the underlying re-id discriminative information from automatically generated person tracklet data end-to-end. We formulate an Unsupervised Tracklet Association Learning (UTAL) framework. This is by jointly learning within-camera tracklet discrimination and cross-camera tracklet association in order to maximise the discovery of tracklet identity matching both within and across camera views. Extensive experiments demonstrate the superiority of the proposed model over the state-of-the-art unsupervised learning and domain adaptation person re-id methods on eight benchmarking datasets.
http://arxiv.org/abs/1903.00535
Despite a growing literature on explaining neural networks, no consensus has been reached on how to explain a neural network decision or how to evaluate an explanation. In fact, most works rely on manually assessing the explanation to evaluate the quality of a method. This injects uncertainty in the explanation process along several dimensions: Which explanation method to apply? Who should we ask to evaluate it and which criteria should be used for the evaluation? Our contributions in this paper are twofold. First, we investigate schemes to combine explanation methods and reduce model uncertainty to obtain a single aggregated explanation. Our findings show that the aggregation is more robust, well-aligned with human explanations and can attribute relevance to a broader set of features (completeness). Second, we propose a novel way of evaluating explanation methods that circumvents the need for manual evaluation and is not reliant on the alignment of neural networks and humans decision processes.
http://arxiv.org/abs/1903.00519
Recognising that real-world optimisation problems have multiple interdependent components can be quite easy. However, providing a generic and formal model for dependencies between components can be a tricky task. In fact, a PMIC can be considered simply as a single optimisation problem and the dependencies between components could be investigated by studying the decomposability of the problem and the correlations between the sub-problems. In this work, we attempt to define PMICs by reasoning from a reverse perspective. Instead of considering a decomposable problem, we model multiple problems (the components) and define how these components could be connected. In this document, we introduce notions related to problems with mutliple interndependent components. We start by introducing realistic examples from logistics and supply chain management to illustrate the composite nature and dependencies in these problems. Afterwards, we provide our attempt to formalise and classify dependency in multi-component problems.
http://arxiv.org/abs/1903.03557
Zero-shot learning extends the conventional object classification to the unseen class recognition by introducing semantic representations of classes. Existing approaches predominantly focus on learning the proper mapping function for visual-semantic embedding, while neglecting the effect of learning discriminative visual features. In this paper, we study the significance of the discriminative region localization. We propose a semantic-guided multi-attention localization model, which automatically discovers the most discriminative parts of objects for zero-shot learning without any human annotations. Our model jointly learns cooperative global and local features from the whole object as well as the detected parts to categorize objects based on semantic descriptions. Moreover, with the joint supervision of embedding softmax loss and class-center triplet loss, the model is encouraged to learn features with high inter-class dispersion and intra-class compactness. Through comprehensive experiments on three widely used zero-shot learning benchmarks, we show the efficacy of the multi-attention localization and our proposed approach improves the state-of-the-art results by a considerable margin.
http://arxiv.org/abs/1903.00502
Anahita is an autonomous underwater vehicle which is currently being developed by interdisciplinary team of students at Indian Institute of Technology(IIT) Kanpur with aim to provide a platform for research in AUV to undergraduate students. This is the second vehicle which is being designed by AUV-IITK team to participate in 6th NIOT-SAVe competition organized by the National Institute of Ocean Technology, Chennai. The Vehicle has been completely redesigned with the major improvements in modularity and ease of access of all the components, keeping the design very compact and efficient. New advancements in the vehicle include, power distribution system and monitoring system. The sensors include the inertial measurement units (IMU), hydrophone array, a depth sensor, and two RGB cameras. The current vehicle features hot swappable battery pods giving a huge advantage over the previous vehicle, for longer runtime.
http://arxiv.org/abs/1903.00494
Multi-level hierarchies have the potential to accelerate learning in sparse reward tasks because they can divide a problem into a set of short horizon subproblems. In order to realize this potential, Hierarchical Reinforcement Learning (HRL) algorithms need to be able to learn the multiple levels within a hierarchy in parallel, so these simpler subproblems can be solved simultaneously. Yet most existing HRL methods that can learn hierarchies are not able to efficiently learn multiple levels of policies at the same time, particularly in continuous domains. To address this problem, we introduce a framework that can learn multiple levels of policies in parallel. Our approach consists of two main components: (i) a particular hierarchical architecture and (ii) a method for jointly learning multiple levels of policies. The hierarchies produced by our framework are comprised of a set of nested, goal-conditioned policies that use the state space to decompose a task into short subtasks. All policies in the hierarchy are learned simultaneously using two types of hindsight transitions. We demonstrate experimentally in both grid world and simulated robotics domains that our approach can significantly accelerate learning relative to other non-hierarchical and hierarchical methods. Indeed, our framework is the first to successfully learn 3-level hierarchies in parallel in tasks with continuous state and action spaces.
http://arxiv.org/abs/1712.00948
An increasing number of datasets contain multiple views, such as video, sound and automatic captions. A basic challenge in representation learning is how to leverage multiple views to learn better representations. This is further complicated by the existence of a latent alignment between views, such as between speech and its transcription, and by the multitude of choices for the learning objective. We explore an advanced, correlation-based representation learning method on a 4-way parallel, multimodal dataset, and assess the quality of the learned representations on retrieval-based tasks. We show that the proposed approach produces rich representations that capture most of the information shared across views. Our best models for speech and textual modalities achieve retrieval rates from 70.7% to 96.9% on open-domain, user-generated instructional videos. This shows it is possible to learn reliable representations across disparate, unaligned and noisy modalities, and encourages using the proposed approach on larger datasets.
https://arxiv.org/abs/1811.08890
Human perception is structured around objects which form the basis for our higher-level cognition and impressive systematic generalization abilities. Yet most work on representation learning focuses on feature learning without even considering multiple objects, or treats segmentation as an (often supervised) preprocessing step. Instead, we argue for the importance of learning to segment and represent objects jointly. We demonstrate that, starting from the simple assumption that a scene is composed of multiple entities, it is possible to learn to segment images into interpretable objects with disentangled representations. Our method learns – without supervision – to inpaint occluded parts, and extrapolates to scenes with more objects and to unseen objects with novel feature combinations. We also show that, due to the use of iterative variational inference, our system is able to learn multi-modal posteriors for ambiguous inputs and extends naturally to sequences.
http://arxiv.org/abs/1903.00450
Inspired by research in psychology, we introduce a behavioral approach for visual navigation using topological maps. Our goal is to enable a robot to navigate from one location to another, relying only on its visual input and the topological map of the environment. We propose using graph neural networks for localizing the agent in the map, and decompose the action space into primitive behaviors implemented as convolutional or recurrent neural networks. Using the Gibson simulator, we verify that our approach outperforms relevant baselines and is able to navigate in both seen and unseen environments.
http://arxiv.org/abs/1903.00445
Super-resolution reconstruction (SRR) is a process aimed at enhancing spatial resolution of images, either from a single observation, based on the learned relation between low and high resolution, or from multiple images presenting the same scene. SRR is particularly valuable, if it is infeasible to acquire images at desired resolution, but many images of the same scene are available at lower resolution—this is inherent to a variety of remote sensing scenarios. Recently, we have witnessed substantial improvement in single-image SRR attributed to the use of deep neural networks for learning the relation between low and high resolution. Importantly, deep learning has not been exploited for multiple-image SRR, which benefits from information fusion and in general allows for achieving higher reconstruction accuracy. In this letter, we introduce a new method which combines the advantages of multiple-image fusion with learning the low-to-high resolution mapping using deep networks. The reported experimental results indicate that our algorithm outperforms the state-of-the-art SRR methods, including these that operate from a single image, as well as those that perform multiple-image fusion.
http://arxiv.org/abs/1903.00440
We present a learning-based method to represent grasp poses of a high-DOF hand using neural networks. Due to the redundancy in such high-DOF grippers, there exists a large number of equally effective grasp poses for a given target object, making it difficult for the neural network to find consistent grasp poses. In other words, it is difficult to find grasp poses for many objects that can be represented by a single neural network. We resolve this ambiguity by generating an augmented dataset that covers many possible grasps for each target object and train our neural networks using a consistency loss function to identify a one-to-one mapping from objects to grasp poses. We further enhance the quality of neuralnetwork-predicted grasp poses using an additional collision loss function to avoid penetrations. We show that our method can generate high-DOF grasp poses with higher accuracy than supervised learning baselines. The quality of grasp poses are on par with the groundtruth poses in the dataset. In addition, our method is robust and can handle imperfect or inaccurate object models, such as those constructed from multi-view depth images, allowing our method to be implemented on a 25-DOF Shadow Hand hardware platform.
http://arxiv.org/abs/1903.00425
Boltzmann machines (BMs) are appealing candidates for powerful priors in variational autoencoders (VAEs), as they are capable of capturing nontrivial and multi-modal distributions over discrete variables. However, non-differentiability of the discrete units prohibits using the reparameterization trick, essential for low-noise back propagation. The Gumbel trick resolves this problem in a consistent way by relaxing the variables and distributions, but it is incompatible with BM priors. Here, we propose the GumBolt, a model that extends the Gumbel trick to BM priors in VAEs. GumBolt is significantly simpler than the recently proposed methods with BM prior and outperforms them by a considerable margin. It achieves state-of-the-art performance on permutation invariant MNIST and OMNIGLOT datasets in the scope of models with only discrete latent variables. Moreover, the performance can be further improved by allowing multi-sampled (importance-weighted) estimation of log-likelihood in training, which was not possible with previous models.
http://arxiv.org/abs/1805.07349
The number of scientific journal articles and reports being published about energetic materials every year is growing exponentially, and therefore extracting relevant information and actionable insights from the latest research is becoming a considerable challenge. In this work we explore how techniques from natural language processing and machine learning can be used to automatically extract chemical insights from large collections of documents. We first describe how to download and process documents from a variety of sources - journal articles, conference proceedings (including NTREM), the US Patent & Trademark Office, and the Defense Technical Information Center archive on archive.org. We present a custom NLP pipeline which uses open source NLP tools to identify the names of chemical compounds and relates them to function words (“underwater”, “rocket”, “pyrotechnic”) and property words (“elastomer”, “non-toxic”). After explaining how word embeddings work we compare the utility of two popular word embeddings - word2vec and GloVe. Chemical-chemical and chemical-application relationships are obtained by doing computations with word vectors. We show that word embeddings capture latent information about energetic materials, so that related materials appear close together in the word embedding space.
http://arxiv.org/abs/1903.00415
Autonomous service robots require computational frameworks that allow them to generalize knowledge to new situations in a manner that models uncertainty while scaling to real-world problem sizes. The Robot Common Sense Embedding (RoboCSE) showcases a class of computational frameworks, multi-relational embeddings, that have not been leveraged in robotics to model semantic knowledge. We validate RoboCSE on a realistic home environment simulator (AI2Thor) to measure how well it generalizes learned knowledge about object affordances, locations, and materials. Our experiments show that RoboCSE can perform prediction better than a baseline that uses pre-trained embeddings, such as Word2Vec, achieving statistically significant improvements while using orders of magnitude less memory than our Bayesian Logic Network baseline. In addition, we show that predictions made by RoboCSE are robust to significant reductions in data available for training as well as domain transfer to MatterPort3D, achieving statistically significant improvements over a baseline that memorizes training data.
http://arxiv.org/abs/1903.00412
In this paper, we propose a convolutional layer inspired by optical flow algorithms to learn motion representations. Our representation flow layer is a fully-differentiable layer designed to capture the flow' of any representation channel within a convolutional neural network for action recognition. Its parameters for iterative flow optimization are learned in an end-to-end fashion together with the other CNN model parameters, maximizing the action recognition performance. Furthermore, we newly introduce the concept of learning flow of flow’ representations by stacking multiple representation flow layers. We conducted extensive experimental evaluations, confirming its advantages over previous recognition models using traditional optical flows in both computational speed and performance. Code/models available here: https://piergiaj.github.io/rep-flow-site/
http://arxiv.org/abs/1810.01455
Navigating and understanding the real world remains a key challenge in machine learning and inspires a great variety of research in areas such as language grounding, planning, navigation and computer vision. We propose an instruction-following task that requires all of the above, and which combines the practicality of simulated environments with the challenges of ambiguous, noisy real world data. StreetNav is built on top of Google Street View and provides visually accurate environments representing real places. Agents are given driving instructions which they must learn to interpret in order to successfully navigate in this environment. Since humans equipped with driving instructions can readily navigate in previously unseen cities, we set a high bar and test our trained agents for similar cognitive capabilities. Although deep reinforcement learning (RL) methods are frequently evaluated only on data that closely follow the training distribution, our dataset extends to multiple cities and has a clean train/test separation. This allows for thorough testing of generalisation ability. This paper presents the StreetNav environment and tasks, a set of novel models that establish strong baselines, and analysis of the task and the trained agents.
http://arxiv.org/abs/1903.00401
We present a method to restore a clear image from a haze-affected image using a Wasserstein generative adversarial network. As the problem is ill-conditioned, previous methods have required a prior on natural images or multiple images of the same scene. We train a generative adversarial network to learn the probability distribution of clear images conditioned on the haze-affected images using the Wasserstein loss function, using a gradient penalty to enforce the Lipschitz constraint. The method is data-adaptive, end-to-end, and requires no further processing or tuning of parameters. We also incorporate the use of a texture-based loss metric and the L1 loss to improve results, and show that our results are better than the current state-of-the-art.
http://arxiv.org/abs/1903.00395
A data augmentation methodology is presented and applied to generate a large dataset of off-axis iris regions and train a low-complexity deep neural network. Although of low complexity the resulting network achieves a high level of accuracy in iris region segmentation for challenging off-axis eye-patches. Interestingly, this network is also shown to achieve high levels of performance for regular, frontal, segmentation of iris regions, comparing favorably with state-of-the-art techniques of significantly higher complexity. Due to its lower complexity, this network is well suited for deployment in embedded applications such as augmented and mixed reality headsets.
http://arxiv.org/abs/1903.00389
Accurate cell counting in microscopic images is important for medical diagnoses and biological studies. However, manual cell counting is very time-consuming, tedious, and prone to subjective errors. We propose a new density regression-based method for automatic cell counting that reduces the need to manually annotate experimental images. A supervised learning-based density regression model (DRM) is trained with annotated synthetic images (the source domain) and their corresponding ground truth density maps. A domain adaptation model (DAM) is built to map experimental images (the target domain) to the feature space of the source domain. By use of the unsupervised learning-based DAM and supervised learning-based DRM, a cell density map of a given target image can be estimated, from which the number of cells can be counted. Results from experimental immunofluorescent microscopic images of human embryonic stem cells demonstrate the promising performance of the proposed counting method.
http://arxiv.org/abs/1903.00388
In recent years, voice knowledge sharing and question answering (Q&A) platforms have attracted much attention, which greatly facilitate the knowledge acquisition for people. However, little research has evaluated on the quality evaluation on voice knowledge sharing. This paper presents a data-driven approach to automatically evaluate the quality of a specific Q&A platform (Zhihu Live). Extensive experiments demonstrate the effectiveness of the proposed method. Furthermore, we introduce a dataset of Zhihu Live as an open resource for researchers in related areas. This dataset will facilitate the development of new methods on knowledge sharing services quality evaluation.
http://arxiv.org/abs/1903.00384