12,268 research outputs found
Learning Deep Visual Object Models From Noisy Web Data: How to Make it Work
Deep networks thrive when trained on large scale data collections. This has
given ImageNet a central role in the development of deep architectures for
visual object classification. However, ImageNet was created during a specific
period in time, and as such it is prone to aging, as well as dataset bias
issues. Moving beyond fixed training datasets will lead to more robust visual
systems, especially when deployed on robots in new environments which must
train on the objects they encounter there. To make this possible, it is
important to break free from the need for manual annotators. Recent work has
begun to investigate how to use the massive amount of images available on the
Web in place of manual image annotations. We contribute to this research thread
with two findings: (1) a study correlating a given level of noisily labels to
the expected drop in accuracy, for two deep architectures, on two different
types of noise, that clearly identifies GoogLeNet as a suitable architecture
for learning from Web data; (2) a recipe for the creation of Web datasets with
minimal noise and maximum visual variability, based on a visual and natural
language processing concept expansion strategy. By combining these two results,
we obtain a method for learning powerful deep object models automatically from
the Web. We confirm the effectiveness of our approach through object
categorization experiments using our Web-derived version of ImageNet on a
popular robot vision benchmark database, and on a lifelong object discovery
task on a mobile robot.Comment: 8 pages, 7 figures, 3 table
A Cognitive Science Based Machine Learning Architecture
In an attempt to illustrate the application of cognitive science principles to hard AI problems in machine learning we propose the LIDA technology, a cognitive science based architecture capable of more human-like learning. A LIDA based software agent or cognitive robot will be capable of three fundamental, continuously active, humanlike learning mechanisms:\ud
1) perceptual learning, the learning of new objects, categories, relations, etc.,\ud
2) episodic learning of events, the what, where, and when,\ud
3) procedural learning, the learning of new actions and action sequences with which to accomplish new tasks. The paper argues for the use of modular components, each specializing in implementing individual facets of human and animal cognition, as a viable approach towards achieving general intelligence
Identification of Invariant Sensorimotor Structures as a Prerequisite for the Discovery of Objects
Perceiving the surrounding environment in terms of objects is useful for any
general purpose intelligent agent. In this paper, we investigate a fundamental
mechanism making object perception possible, namely the identification of
spatio-temporally invariant structures in the sensorimotor experience of an
agent. We take inspiration from the Sensorimotor Contingencies Theory to define
a computational model of this mechanism through a sensorimotor, unsupervised
and predictive approach. Our model is based on processing the unsupervised
interaction of an artificial agent with its environment. We show how
spatio-temporally invariant structures in the environment induce regularities
in the sensorimotor experience of an agent, and how this agent, while building
a predictive model of its sensorimotor experience, can capture them as densely
connected subgraphs in a graph of sensory states connected by motor commands.
Our approach is focused on elementary mechanisms, and is illustrated with a set
of simple experiments in which an agent interacts with an environment. We show
how the agent can build an internal model of moving but spatio-temporally
invariant structures by performing a Spectral Clustering of the graph modeling
its overall sensorimotor experiences. We systematically examine properties of
the model, shedding light more globally on the specificities of the paradigm
with respect to methods based on the supervised processing of collections of
static images.Comment: 24 pages, 10 figures, published in Frontiers Robotics and A
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