10302 Abstracts Collection -- Learning paradigms in dynamic environments

From 25.07. to 30.07.2010, the Dagstuhl Seminar 10302 ``Learning paradigms in dynamic environments \u27\u27 was held in Schloss Dagstuhl~--~Leibniz Center for Informatics. During the seminar, several participants presented their current research, and ongoing work and open problems were discussed. Abstracts of the presentations given during the seminar as well as abstracts of seminar results and ideas are put together in this paper. The first section describes the seminar topics and goals in general. Links to extended abstracts or full papers are provided, if available

Parametric kernels for structured data analysis

textStructured representation of input physical patterns as a set of local features has been useful for a veriety of robotics and human computer interaction (HCI) applications. It enables a stable understanding of the variable inputs. However, this representation does not fit the conventional machine learning algorithms and distance metrics because they assume vector inputs. To learn from input patterns with variable structure is thus challenging. To address this problem, I propose a general and systematic method to design distance metrics between structured inputs that can be used in conventional learning algorithms. Based on the observation of the stability in the geometric distributions of local features over the physical patterns across similar inputs, this is done combining the local similarities and the conformity of the geometric relationship between local features. The produced distance metrics, called “parametric kernels”, are positive semi-definite and require almost linear time to compute. To demonstrate the general applicability and the efficacy of this approach, I designed and applied parametric kernels to handwritten character recognition, on-line face recognition, and object detection from laser range finder sensor data. Parametric kernels achieve recognition rates competitive to state-of-the-art approaches in these tasks.Computer Science

Image Segmentation and Classification using Small Data: An Application on Friendly Statements - A Computer Vision and Document Intelligence Project

Internship Report presented as the partial requirement for obtaining a Master's degree in Data Science and Advanced Analytics, specialization in Data ScienceInsurance companies face significant challenges in managing numerous physical documents containing critical information, resulting in considerable time and cost expenditures. Although Deep Learning models offer a promising solution, their implementation costs and data privacy concerns restrict widespread adoption, especially when dealing with confidential documents. This internship report presents a novel approach to address these challenges by developing a lightweight computer vision solution for accurately detecting and processing checkboxes from Portuguese friendly statements. The key objective was to demonstrate the feasibility of achieving high accuracy without relying on advanced Deep Learning techniques. By leveraging a small set of examples, we successfully extracted checkbox information while mitigating the high computational requirements associated with traditional Deep Learning models. The results highlight the practicality and cost-effectiveness of our approach, offering insurance companies a viable solution to streamline document management, enhance data security, and improve overall efficiency. This research contributes to the computer vision field by providing valuable insights into alternative methodologies that can be adopted to overcome the limitations of Deep Learning, facilitating broader accessibility and utilization among insurance providers

Human-aware Collaborative Manipulation with Reaching Motion Prediction

This dissertations presents a possible approach to improve human-robot interaction in an industrial collaborative situation, where the human operator and a collaborative industrial robot work within a shared work-space. The approach presented in this dissertation focuses on a situation where part of the assembly process needs to be carried out by a human operator, whose assembly station is located on a work-bench, and a robot is used to pick and place products in specific locations on the operator’s work station. Because those locations can be accessed both by the robot or the human operator at any time, collisions can occur and should be avoided in order to make the process more natural for the human operator as well as to avoid the emergency stop of the collaborative robot which has to be restarted and thus decreases productivity. In order to prevent those collisions the proposed system defines key-areas in each of the locations as well as other relevant positions for the collaborative task. The system uses a Kinect Sensor and a neural network to track the user’s hand over time and Gaussian Mixture Models to make predictions regarding the possible destination key-area given the observed trajectory until that moment. If a collision is predicted the robot pauses the task being executed at the moment in order to prevent it and, once the conflict has been resolved, resumes operation.Esta dissertação apresenta uma possível aproximação para melhorar a interação humanorobot em situações industrias colaborativas, onde um operador humano e um robot industrial colaborativo trabalham num espaço partilhado. A aproximação apresentada nesta dissertação foca situações onde parte do processo de produção deve ser realizado por um operador humano cuja área de trabalho se localiza numa mesa. É utilizado um robot de forma a colocar e retirar produtos de locais especificos da mesa de trabalho do operador. Uma vez que estes locais podem ser acedidos pelo utilizador e pelo robot a qualquer momento é possivel que ocorram colisões que devem ser evitadas, de forma a tornar a interação mais natural para o humano e evitar paragens de emergencia, que requerem que o robot colaborativo seja reiniciado manualmente e, portanto, diminuem a produtividade. De forma a prevenir essas colisões, o sistema proposto define áreas-chave nos locais onde podem ocorrer colisões e em outras localisões relevantes para a tarefa colaborativa a ser executada. A solução proposta utiliza um sensor Kinect, juntamente com uma rede neuronal para seguir a mão do operador ao longo do tempo e usa Gaussian Mixture Models para fazer previsões relativas à área de destino dada a trajetoria observada até ao momento. Se for prevista uma colisão o robot interrompe a execução da tarefa programada de forma a evitar a colisão. Uma vez o conflito resolvido, o robot retoma a tarefa do ponto onde parou

Dagstuhl News January - December 2006

"Dagstuhl News" is a publication edited especially for the members of the Foundation "Informatikzentrum Schloss Dagstuhl" to thank them for their support. The News give a summary of the scientific work being done in Dagstuhl. Each Dagstuhl Seminar is presented by a small abstract describing the contents and scientific highlights of the seminar as well as the perspectives or challenges of the research topic

Exploiting multimodality and structure in world representations

An essential aim of artificial intelligence research is to design agents that will eventually cooperate with humans within the real world. To this end, embodied learning is emerging as one of the most important efforts contributed by the machine learning community towards this goal. Recently developing sub-fields concern various aspects of such systems---visual reasoning, language representations, causal mechanisms, robustness to out-of-distribution inputs, to name only a few. In particular, multimodal learning and language grounding are vital to achieving a strong understanding of the real world. Humans build internal representations via interacting with their environment, learning complex associations between visual, auditory and linguistic concepts. Since the world abounds with structure, graph-based encodings are also likely to be incorporated in reasoning and decision-making modules. Furthermore, these relational representations are rather symbolic in nature---providing advantages over other formats, such as raw pixels---and can encode various types of links (temporal, causal, spatial) which can be essential for understanding and acting in the real world. This thesis presents three research works that study and develop likely aspects of future intelligent agents. The first contribution centers on vision-and-language learning, introducing a challenging embodied task that shifts the focus of an existing one to the visual reasoning problem. By extending popular visual question answering (VQA) paradigms, I also designed several models that were evaluated on the novel dataset. This produced initial performance estimates for environment understanding, through the lens of a more challenging VQA downstream task. The second work presents two ways of obtaining hierarchical representations of graph-structured data. These methods either scaled to much larger graphs than the ones processed by the best-performing method at the time, or incorporated theoretical properties via the use of topological data analysis algorithms. Both approaches competed with contemporary state-of-the-art graph classification methods, even outside social domains in the second case, where the inductive bias was PageRank-driven. Finally, the third contribution delves further into relational learning, presenting a probabilistic treatment of graph representations in complex settings such as few-shot, multi-task learning and scarce-labelled data regimes. By adding relational inductive biases to neural processes, the resulting framework can model an entire distribution of functions which generate datasets with structure. This yielded significant performance gains, especially in the aforementioned complex scenarios, with semantically-accurate uncertainty estimates that drastically improved over the neural process baseline. This type of framework may eventually contribute to developing lifelong-learning systems, due to its ability to adapt to novel tasks and distributions. The benchmark, methods and frameworks that I have devised during my doctoral studies suggest important future directions for embodied and graph representation learning research. These areas have increasingly proved their relevance to designing intelligent and collaborative agents, which we may interact with in the near future. By addressing several challenges in this problem space, my contributions therefore take a few steps towards building machine learning systems to be deployed in real-life settings.DREAM CD

Differentiable world programs

L'intelligence artificielle (IA) moderne a ouvert de nouvelles perspectives prometteuses pour la création de robots intelligents. En particulier, les architectures d'apprentissage basées sur le gradient (réseaux neuronaux profonds) ont considérablement amélioré la compréhension des scènes 3D en termes de perception, de raisonnement et d'action. Cependant, ces progrès ont affaibli l'attrait de nombreuses techniques ``classiques'' développées au cours des dernières décennies. Nous postulons qu'un mélange de méthodes ``classiques'' et ``apprises'' est la voie la plus prometteuse pour développer des modèles du monde flexibles, interprétables et exploitables : une nécessité pour les agents intelligents incorporés. La question centrale de cette thèse est : ``Quelle est la manière idéale de combiner les techniques classiques avec des architectures d'apprentissage basées sur le gradient pour une compréhension riche du monde 3D ?''. Cette vision ouvre la voie à une multitude d'applications qui ont un impact fondamental sur la façon dont les agents physiques perçoivent et interagissent avec leur environnement. Cette thèse, appelée ``programmes différentiables pour modèler l'environnement'', unifie les efforts de plusieurs domaines étroitement liés mais actuellement disjoints, notamment la robotique, la vision par ordinateur, l'infographie et l'IA. Ma première contribution---gradSLAM--- est un système de localisation et de cartographie simultanées (SLAM) dense et entièrement différentiable. En permettant le calcul du gradient à travers des composants autrement non différentiables tels que l'optimisation non linéaire par moindres carrés, le raycasting, l'odométrie visuelle et la cartographie dense, gradSLAM ouvre de nouvelles voies pour intégrer la reconstruction 3D classique et l'apprentissage profond. Ma deuxième contribution - taskography - propose une sparsification conditionnée par la tâche de grandes scènes 3D encodées sous forme de graphes de scènes 3D. Cela permet aux planificateurs classiques d'égaler (et de surpasser) les planificateurs de pointe basés sur l'apprentissage en concentrant le calcul sur les attributs de la scène pertinents pour la tâche. Ma troisième et dernière contribution---gradSim--- est un simulateur entièrement différentiable qui combine des moteurs physiques et graphiques différentiables pour permettre l'estimation des paramètres physiques et le contrôle visuomoteur, uniquement à partir de vidéos ou d'une image fixe.Modern artificial intelligence (AI) has created exciting new opportunities for building intelligent robots. In particular, gradient-based learning architectures (deep neural networks) have tremendously improved 3D scene understanding in terms of perception, reasoning, and action. However, these advancements have undermined many ``classical'' techniques developed over the last few decades. We postulate that a blend of ``classical'' and ``learned'' methods is the most promising path to developing flexible, interpretable, and actionable models of the world: a necessity for intelligent embodied agents. ``What is the ideal way to combine classical techniques with gradient-based learning architectures for a rich understanding of the 3D world?'' is the central question in this dissertation. This understanding enables a multitude of applications that fundamentally impact how embodied agents perceive and interact with their environment. This dissertation, dubbed ``differentiable world programs'', unifies efforts from multiple closely-related but currently-disjoint fields including robotics, computer vision, computer graphics, and AI. Our first contribution---gradSLAM---is a fully differentiable dense simultaneous localization and mapping (SLAM) system. By enabling gradient computation through otherwise non-differentiable components such as nonlinear least squares optimization, ray casting, visual odometry, and dense mapping, gradSLAM opens up new avenues for integrating classical 3D reconstruction and deep learning. Our second contribution---taskography---proposes a task-conditioned sparsification of large 3D scenes encoded as 3D scene graphs. This enables classical planners to match (and surpass) state-of-the-art learning-based planners by focusing computation on task-relevant scene attributes. Our third and final contribution---gradSim---is a fully differentiable simulator that composes differentiable physics and graphics engines to enable physical parameter estimation and visuomotor control, solely from videos or a still image

Comparative Study on Interaction of Form and Motion Processing Streams by Applying Two Different Classifiers in Mechanism for Recognition of Biological Movement

Research on psychophysics, neurophysiology, and functional imaging shows particular representation of biological movements which contains two pathways. The visual perception of biological movements formed through the visual system called dorsal and ventral processing streams. Ventral processing stream is associated with the form information extraction; on the other hand, dorsal processing stream provides motion information. Active basic model (ABM) as hierarchical representation of the human object had revealed novelty in form pathway due to applying Gabor based supervised object recognition method. It creates more biological plausibility along with similarity with original model. Fuzzy inference system is used for motion pattern information in motion pathway creating more robustness in recognition process. Besides, interaction of these paths is intriguing and many studies in various fields considered it. Here, the interaction of the pathways to get more appropriated results has been investigated. Extreme learning machine (ELM) has been implied for classification unit of this model, due to having the main properties of artificial neural networks, but crosses from the difficulty of training time substantially diminished in it. Here, there will be a comparison between two different configurations, interactions using synergetic neural network and ELM, in terms of accuracy and compatibility

GPU Computing for Cognitive Robotics

This thesis presents the first investigation of the impact of GPU computing on cognitive robotics by providing a series of novel experiments in the area of action and language acquisition in humanoid robots and computer vision. Cognitive robotics is concerned with endowing robots with high-level cognitive capabilities to enable the achievement of complex goals in complex environments. Reaching the ultimate goal of developing cognitive robots will require tremendous amounts of computational power, which was until recently provided mostly by standard CPU processors. CPU cores are optimised for serial code execution at the expense of parallel execution, which renders them relatively inefficient when it comes to high-performance computing applications. The ever-increasing market demand for high-performance, real-time 3D graphics has evolved the GPU into a highly parallel, multithreaded, many-core processor extraordinary computational power and very high memory bandwidth. These vast computational resources of modern GPUs can now be used by the most of the cognitive robotics models as they tend to be inherently parallel. Various interesting and insightful cognitive models were developed and addressed important scientific questions concerning action-language acquisition and computer vision. While they have provided us with important scientific insights, their complexity and application has not improved much over the last years. The experimental tasks as well as the scale of these models are often minimised to avoid excessive training times that grow exponentially with the number of neurons and the training data. This impedes further progress and development of complex neurocontrollers that would be able to take the cognitive robotics research a step closer to reaching the ultimate goal of creating intelligent machines. This thesis presents several cases where the application of the GPU computing on cognitive robotics algorithms resulted in the development of large-scale neurocontrollers of previously unseen complexity enabling the conducting of the novel experiments described herein.European Commission Seventh Framework Programm

Automated Semantic Understanding of Human Emotions in Writing and Speech

Affective Human Computer Interaction (A-HCI) will be critical for the success of new technologies that will prevalent in the 21st century. If cell phones and the internet are any indication, there will be continued rapid development of automated assistive systems that help humans to live better, more productive lives. These will not be just passive systems such as cell phones, but active assistive systems like robot aides in use in hospitals, homes, entertainment room, office, and other work environments. Such systems will need to be able to properly deduce human emotional state before they determine how to best interact with people. This dissertation explores and extends the body of knowledge related to Affective HCI. New semantic methodologies are developed and studied for reliable and accurate detection of human emotional states and magnitudes in written and spoken speech; and for mapping emotional states and magnitudes to 3-D facial expression outputs. The automatic detection of affect in language is based on natural language processing and machine learning approaches. Two affect corpora were developed to perform this analysis. Emotion classification is performed at the sentence level using a step-wise approach which incorporates sentiment flow and sentiment composition features. For emotion magnitude estimation, a regression model was developed to predict evolving emotional magnitude of actors. Emotional magnitudes at any point during a story or conversation are determined by 1) previous emotional state magnitude; 2) new text and speech inputs that might act upon that state; and 3) information about the context the actors are in. Acoustic features are also used to capture additional information from the speech signal. Evaluation of the automatic understanding of affect is performed by testing the model on a testing subset of the newly extended corpus. To visualize actor emotions as perceived by the system, a methodology was also developed to map predicted emotion class magnitudes to 3-D facial parameters using vertex-level mesh morphing. The developed sentence level emotion state detection approach achieved classification accuracies as high as 71% for the neutral vs. emotion classification task in a test corpus of children’s stories. After class re-sampling, the results of the step-wise classification methodology on a test sub-set of a medical drama corpus achieved accuracies in the 56% to 84% range for each emotion class and polarity. For emotion magnitude prediction, the developed recurrent (prior-state feedback) regression model using both text-based and acoustic based features achieved correlation coefficients in the range of 0.69 to 0.80. This prediction function was modeled using a non-linear approach based on Support Vector Regression (SVR) and performed better than other approaches based on Linear Regression or Artificial Neural Networks