88,095 research outputs found
Weakly supervised segment annotation via expectation kernel density estimation
Since the labelling for the positive images/videos is ambiguous in weakly
supervised segment annotation, negative mining based methods that only use the
intra-class information emerge. In these methods, negative instances are
utilized to penalize unknown instances to rank their likelihood of being an
object, which can be considered as a voting in terms of similarity. However,
these methods 1) ignore the information contained in positive bags, 2) only
rank the likelihood but cannot generate an explicit decision function. In this
paper, we propose a voting scheme involving not only the definite negative
instances but also the ambiguous positive instances to make use of the extra
useful information in the weakly labelled positive bags. In the scheme, each
instance votes for its label with a magnitude arising from the similarity, and
the ambiguous positive instances are assigned soft labels that are iteratively
updated during the voting. It overcomes the limitations of voting using only
the negative bags. We also propose an expectation kernel density estimation
(eKDE) algorithm to gain further insight into the voting mechanism.
Experimental results demonstrate the superiority of our scheme beyond the
baselines.Comment: 9 pages, 2 figure
Interactively Picking Real-World Objects with Unconstrained Spoken Language Instructions
Comprehension of spoken natural language is an essential component for robots
to communicate with human effectively. However, handling unconstrained spoken
instructions is challenging due to (1) complex structures including a wide
variety of expressions used in spoken language and (2) inherent ambiguity in
interpretation of human instructions. In this paper, we propose the first
comprehensive system that can handle unconstrained spoken language and is able
to effectively resolve ambiguity in spoken instructions. Specifically, we
integrate deep-learning-based object detection together with natural language
processing technologies to handle unconstrained spoken instructions, and
propose a method for robots to resolve instruction ambiguity through dialogue.
Through our experiments on both a simulated environment as well as a physical
industrial robot arm, we demonstrate the ability of our system to understand
natural instructions from human operators effectively, and how higher success
rates of the object picking task can be achieved through an interactive
clarification process.Comment: 9 pages. International Conference on Robotics and Automation (ICRA)
2018. Accompanying videos are available at the following links:
https://youtu.be/_Uyv1XIUqhk (the system submitted to ICRA-2018) and
http://youtu.be/DGJazkyw0Ws (with improvements after ICRA-2018 submission
Semantic Compression of Episodic Memories
Storing knowledge of an agent's environment in the form of a probabilistic
generative model has been established as a crucial ingredient in a multitude of
cognitive tasks. Perception has been formalised as probabilistic inference over
the state of latent variables, whereas in decision making the model of the
environment is used to predict likely consequences of actions. Such generative
models have earlier been proposed to underlie semantic memory but it remained
unclear if this model also underlies the efficient storage of experiences in
episodic memory. We formalise the compression of episodes in the normative
framework of information theory and argue that semantic memory provides the
distortion function for compression of experiences. Recent advances and
insights from machine learning allow us to approximate semantic compression in
naturalistic domains and contrast the resulting deviations in compressed
episodes with memory errors observed in the experimental literature on human
memory.Comment: CogSci201
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