5,493 research outputs found
Knowledge Base Population using Semantic Label Propagation
A crucial aspect of a knowledge base population system that extracts new
facts from text corpora, is the generation of training data for its relation
extractors. In this paper, we present a method that maximizes the effectiveness
of newly trained relation extractors at a minimal annotation cost. Manual
labeling can be significantly reduced by Distant Supervision, which is a method
to construct training data automatically by aligning a large text corpus with
an existing knowledge base of known facts. For example, all sentences
mentioning both 'Barack Obama' and 'US' may serve as positive training
instances for the relation born_in(subject,object). However, distant
supervision typically results in a highly noisy training set: many training
sentences do not really express the intended relation. We propose to combine
distant supervision with minimal manual supervision in a technique called
feature labeling, to eliminate noise from the large and noisy initial training
set, resulting in a significant increase of precision. We further improve on
this approach by introducing the Semantic Label Propagation method, which uses
the similarity between low-dimensional representations of candidate training
instances, to extend the training set in order to increase recall while
maintaining high precision. Our proposed strategy for generating training data
is studied and evaluated on an established test collection designed for
knowledge base population tasks. The experimental results show that the
Semantic Label Propagation strategy leads to substantial performance gains when
compared to existing approaches, while requiring an almost negligible manual
annotation effort.Comment: Submitted to Knowledge Based Systems, special issue on Knowledge
Bases for Natural Language Processin
From Constraints to Opportunities: Efficient Object Detection Learning for Humanoid Robots
Reliable perception and efficient adaptation to novel conditions are priority skills for robots that function in ever-changing environments. Indeed, autonomously operating in real world scenarios raises the need of identifying different context\u2019s states and act accordingly. Moreover, the requested tasks might not be known a-priori, requiring the system to update on-line. Robotic platforms allow to gather various types of perceptual information due to the multiple sensory modalities they are provided with. Nonetheless, latest results in computer vision motivate a particular interest in visual perception. Specifically, in this thesis, I mainly focused on the object detection task since it can be at the basis of more sophisticated capabilities.
The vast advancements in latest computer vision research, brought by deep learning methods, are appealing in a robotic setting. However, their adoption in applied domains is not straightforward since adapting them to new tasks is strongly demanding in terms of annotated data, optimization time and computational resources. These requirements do not generally meet current robotics constraints. Nevertheless, robotic platforms and especially
humanoids present opportunities that can be exploited. The sensors they are provided with represent precious sources of additional information. Moreover, their embodiment in the workspace and their motion capabilities allow for a natural interaction with the environment.
Motivated by these considerations, in this Ph.D project, I mainly aimed at devising and developing solutions able to integrate the worlds of computer vision and robotics, by focusing on the task of object detection. Specifically, I dedicated a large amount of effort in alleviating state-of-the-art methods requirements in terms of annotated data and training time, preserving their accuracy by exploiting robotics opportunity
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