Visual Servoing from Deep Neural Networks

We present a deep neural network-based method to perform high-precision, robust and real-time 6 DOF visual servoing. The paper describes how to create a dataset simulating various perturbations (occlusions and lighting conditions) from a single real-world image of the scene. A convolutional neural network is fine-tuned using this dataset to estimate the relative pose between two images of the same scene. The output of the network is then employed in a visual servoing control scheme. The method converges robustly even in difficult real-world settings with strong lighting variations and occlusions.A positioning error of less than one millimeter is obtained in experiments with a 6 DOF robot.Comment: fixed authors lis

An Improved Composite Hypothesis Test for Markov Models with Applications in Network Anomaly Detection

Recent work has proposed the use of a composite hypothesis Hoeffding test for statistical anomaly detection. Setting an appropriate threshold for the test given a desired false alarm probability involves approximating the false alarm probability. To that end, a large deviations asymptotic is typically used which, however, often results in an inaccurate setting of the threshold, especially for relatively small sample sizes. This, in turn, results in an anomaly detection test that does not control well for false alarms. In this paper, we develop a tighter approximation using the Central Limit Theorem (CLT) under Markovian assumptions. We apply our result to a network anomaly detection application and demonstrate its advantages over earlier work.Comment: 6 pages, 6 figures; final version for CDC 201

Learning from Multi-View Multi-Way Data via Structural Factorization Machines

Real-world relations among entities can often be observed and determined by different perspectives/views. For example, the decision made by a user on whether to adopt an item relies on multiple aspects such as the contextual information of the decision, the item's attributes, the user's profile and the reviews given by other users. Different views may exhibit multi-way interactions among entities and provide complementary information. In this paper, we introduce a multi-tensor-based approach that can preserve the underlying structure of multi-view data in a generic predictive model. Specifically, we propose structural factorization machines (SFMs) that learn the common latent spaces shared by multi-view tensors and automatically adjust the importance of each view in the predictive model. Furthermore, the complexity of SFMs is linear in the number of parameters, which make SFMs suitable to large-scale problems. Extensive experiments on real-world datasets demonstrate that the proposed SFMs outperform several state-of-the-art methods in terms of prediction accuracy and computational cost.Comment: 10 page

On the Existence of Spacetime Structure

I examine the debate between substantivalists and relationalists about the ontological character of spacetime and conclude it is not well posed. I argue that the so-called Hole Argument does not bear on the debate, because it provides no clear criterion to distinguish the positions. I propose two such precise criteria and construct separate arguments based on each to yield contrary conclusions, one supportive of something like relationalism and the other of something like substantivalism. The lesson is that one must fix an investigative context in order to make such criteria precise, but different investigative contexts yield inconsistent results. I examine questions of existence about spacetime structures other than the spacetime manifold itself to argue that it is more fruitful to focus on pragmatic issues of physicality, a notion that lends itself to several different explications, all of philosophical interest, none privileged a priori over any of the others. I conclude by suggesting an extension of the lessons of my arguments to the broader debate between realists and instrumentalists.Comment: 42 pages, 2 figures, forthcoming (2015) in British Journal for Philosophy of Scienc