Data Association for Semantic World Modeling from Partial Views

Autonomous mobile-manipulation robots need to sense and interact with objects to accomplish high-level tasks such as preparing meals and searching for objects. To achieve such tasks, robots need semantic world models, defined as object-based representations of the world involving task-level attributes. In this work, we address the problem of estimating world models from semantic perception modules that provide noisy observations of attributes. Because attribute detections are sparse, ambiguous, and are aggregated across different viewpoints, it is unclear which attribute measurements are produced by the same object, so data association issues are prevalent. We present novel clustering-based approaches to this problem, which are more efficient and require less severe approximations compared to existing tracking-based approaches. These approaches are applied to data containing object type-and-pose detections from multiple viewpoints, and demonstrate comparable quality using a fraction of the computation time.National Science Foundation (U.S.) (NSF Grant No. 1117325)United States. Office of Naval Research (ONR MURI grant N00014-09-1-1051)United States. Air Force Office of Scientific Research (AFOSR grant FA2386-10-1-4135)Singapore. Ministry of Education (Grant to the the Singapore-MIT International Design Center

Modeling views in the layered view model for XML using UML

In data engineering, view formalisms are used to provide flexibility to users and user applications by allowing them to extract and elaborate data from the stored data sources. Conversely, since the introduction of Extensible Markup Language (XML), it is fast emerging as the dominant standard for storing, describing, and interchanging data among various web and heterogeneous data sources. In combination with XML Schema, XML provides rich facilities for defining and constraining user-defined data semantics and properties, a feature that is unique to XML. In this context, it is interesting to investigate traditional database features, such as view models and view design techniques for XML. However, traditional view formalisms are strongly coupled to the data language and its syntax, thus it proves to be a difficult task to support views in the case of semi-structured data models. Therefore, in this paper we propose a Layered View Model (LVM) for XML with conceptual and schemata extensions. Here our work is three-fold; first we propose an approach to separate the implementation and conceptual aspects of the views that provides a clear separation of concerns, thus, allowing analysis and design of views to be separated from their implementation. Secondly, we define representations to express and construct these views at the conceptual level. Thirdly, we define a view transformation methodology for XML views in the LVM, which carries out automated transformation to a view schema and a view query expression in an appropriate query language. Also, to validate and apply the LVM concepts, methods and transformations developed, we propose a view-driven application development framework with the flexibility to develop web and database applications for XML, at varying levels of abstraction

Ontology-based model abstraction

In recent years, there has been a growth in the use of reference conceptual models to capture information about complex and critical domains. However, as the complexity of domain increases, so does the size and complexity of the models that represent them. Over the years, different techniques for complexity management in large conceptual models have been developed. In particular, several authors have proposed different techniques for model abstraction. In this paper, we leverage on the ontologically well-founded semantics of the modeling language OntoUML to propose a novel approach for model abstraction in conceptual models. We provide a precise definition for a set of Graph-Rewriting rules that can automatically produce much-reduced versions of OntoUML models that concentrate the models’ information content around the ontologically essential types in that domain, i.e., the so-called Kinds. The approach has been implemented using a model-based editor and tested over a repository of OntoUML models

A Trio Neural Model for Dynamic Entity Relatedness Ranking

Measuring entity relatedness is a fundamental task for many natural language processing and information retrieval applications. Prior work often studies entity relatedness in static settings and an unsupervised manner. However, entities in real-world are often involved in many different relationships, consequently entity-relations are very dynamic over time. In this work, we propose a neural networkbased approach for dynamic entity relatedness, leveraging the collective attention as supervision. Our model is capable of learning rich and different entity representations in a joint framework. Through extensive experiments on large-scale datasets, we demonstrate that our method achieves better results than competitive baselines.Comment: In Proceedings of CoNLL 201