GOGGLES: Automatic Image Labeling with Affinity Coding

Generating large labeled training data is becoming the biggest bottleneck in building and deploying supervised machine learning models. Recently, the data programming paradigm has been proposed to reduce the human cost in labeling training data. However, data programming relies on designing labeling functions which still requires significant domain expertise. Also, it is prohibitively difficult to write labeling functions for image datasets as it is hard to express domain knowledge using raw features for images (pixels). We propose affinity coding, a new domain-agnostic paradigm for automated training data labeling. The core premise of affinity coding is that the affinity scores of instance pairs belonging to the same class on average should be higher than those of pairs belonging to different classes, according to some affinity functions. We build the GOGGLES system that implements affinity coding for labeling image datasets by designing a novel set of reusable affinity functions for images, and propose a novel hierarchical generative model for class inference using a small development set. We compare GOGGLES with existing data programming systems on 5 image labeling tasks from diverse domains. GOGGLES achieves labeling accuracies ranging from a minimum of 71% to a maximum of 98% without requiring any extensive human annotation. In terms of end-to-end performance, GOGGLES outperforms the state-of-the-art data programming system Snuba by 21% and a state-of-the-art few-shot learning technique by 5%, and is only 7% away from the fully supervised upper bound.Comment: Published at 2020 ACM SIGMOD International Conference on Management of Dat

Semantic Concept Co-Occurrence Patterns for Image Annotation and Retrieval.

Describing visual image contents by semantic concepts is an effective and straightforward way to facilitate various high level applications. Inferring semantic concepts from low-level pictorial feature analysis is challenging due to the semantic gap problem, while manually labeling concepts is unwise because of a large number of images in both online and offline collections. In this paper, we present a novel approach to automatically generate intermediate image descriptors by exploiting concept co-occurrence patterns in the pre-labeled training set that renders it possible to depict complex scene images semantically. Our work is motivated by the fact that multiple concepts that frequently co-occur across images form patterns which could provide contextual cues for individual concept inference. We discover the co-occurrence patterns as hierarchical communities by graph modularity maximization in a network with nodes and edges representing concepts and co-occurrence relationships separately. A random walk process working on the inferred concept probabilities with the discovered co-occurrence patterns is applied to acquire the refined concept signature representation. Through experiments in automatic image annotation and semantic image retrieval on several challenging datasets, we demonstrate the effectiveness of the proposed concept co-occurrence patterns as well as the concept signature representation in comparison with state-of-the-art approaches

Technology assessment of advanced automation for space missions

Six general classes of technology requirements derived during the mission definition phase of the study were identified as having maximum importance and urgency, including autonomous world model based information systems, learning and hypothesis formation, natural language and other man-machine communication, space manufacturing, teleoperators and robot systems, and computer science and technology

Modeling and interpolation of the ambient magnetic field by Gaussian processes

Anomalies in the ambient magnetic field can be used as features in indoor positioning and navigation. By using Maxwell's equations, we derive and present a Bayesian non-parametric probabilistic modeling approach for interpolation and extrapolation of the magnetic field. We model the magnetic field components jointly by imposing a Gaussian process (GP) prior on the latent scalar potential of the magnetic field. By rewriting the GP model in terms of a Hilbert space representation, we circumvent the computational pitfalls associated with GP modeling and provide a computationally efficient and physically justified modeling tool for the ambient magnetic field. The model allows for sequential updating of the estimate and time-dependent changes in the magnetic field. The model is shown to work well in practice in different applications: we demonstrate mapping of the magnetic field both with an inexpensive Raspberry Pi powered robot and on foot using a standard smartphone.Comment: 17 pages, 12 figures, to appear in IEEE Transactions on Robotic