11,870 research outputs found
Modularizing and Assembling Cognitive Map Learners via Hyperdimensional Computing
Biological organisms must learn how to control their own bodies to achieve
deliberate locomotion, that is, predict their next body position based on their
current position and selected action. Such learning is goal-agnostic with
respect to maximizing (minimizing) an environmental reward (penalty) signal. A
cognitive map learner (CML) is a collection of three separate yet
collaboratively trained artificial neural networks which learn to construct
representations for the node states and edge actions of an arbitrary
bidirectional graph. In so doing, a CML learns how to traverse the graph nodes;
however, the CML does not learn when and why to move from one node state to
another. This work created CMLs with node states expressed as high dimensional
vectors suitable for hyperdimensional computing (HDC), a form of symbolic
machine learning (ML). In so doing, graph knowledge (CML) was segregated from
target node selection (HDC), allowing each ML approach to be trained
independently. The first approach used HDC to engineer an arbitrary number of
hierarchical CMLs, where each graph node state specified target node states for
the next lower level CMLs to traverse to. Second, an HDC-based
stimulus-response experience model was demonstrated per CML. Because
hypervectors may be in superposition with each other, multiple experience
models were added together and run in parallel without any retraining. Lastly,
a CML-HDC ML unit was modularized: trained with proxy symbols such that
arbitrary, application-specific stimulus symbols could be operated upon without
retraining either CML or HDC model. These methods provide a template for
engineering heterogenous ML systems
ENABLING EFFICIENT FLEET COMPOSITION SELECTION THROUGH THE DEVELOPMENT OF A RANK HEURISTIC FOR A BRANCH AND BOUND METHOD
In the foreseeable future, autonomous mobile robots (AMRs) will become a key enabler
for increasing productivity and flexibility in material handling in warehousing facilities,
distribution centers and manufacturing systems.
The objective of this research is to develop and validate parametric models of AMRs,
develop ranking heuristic using a physics-based algorithm within the framework of the
Branch and Bound method, integrate the ranking algorithm into a Fleet Composition
Optimization (FCO) tool, and finally conduct simulations under various scenarios to
verify the suitability and robustness of the developed tool in a factory equipped with
AMRs. Kinematic-based equations are used for computing both energy and time
consumption. Multivariate linear regression, a data-driven method, is used for designing
the ranking heuristic. The results indicate that the unique physical structures and
parameters of each robot are the main factors contributing to differences in energy and
time consumption. improvement on reducing computation time was achieved by
comparing heuristic-based search and non-heuristic-based search. This research is
expected to significantly improve the current nested fleet composition optimization tool
by reducing computation time without sacrificing optimality. From a practical
perspective, greater efficiency in reducing energy and time costs can be achieved.Ford Motor CompanyNo embargoAcademic Major: Aerospace Engineerin
Kurcuma: a kitchen utensil recognition collection for unsupervised domain adaptation
The use of deep learning makes it possible to achieve extraordinary results in all kinds of tasks related to computer vision. However, this performance is strongly related to the availability of training data and its relationship with the distribution in the eventual application scenario. This question is of vital importance in areas such as robotics, where the targeted environment data are barely available in advance. In this context, domain adaptation (DA) techniques are especially important to building models that deal with new data for which the corresponding label is not available. To promote further research in DA techniques applied to robotics, this work presents Kurcuma (Kitchen Utensil Recognition Collection for Unsupervised doMain Adaptation), an assortment of seven datasets for the classification of kitchen utensils—a task of relevance in home-assistance robotics and a suitable showcase for DA. Along with the data, we provide a broad description of the main characteristics of the dataset, as well as a baseline using the well-known domain-adversarial training of neural networks approach. The results show the challenge posed by DA on these types of tasks, pointing to the need for new approaches in future work.Open Access funding provided thanks to the CRUE-CSIC agreement with Springer Nature. This work was supported by the I+D+i project TED2021-132103A-I00 (DOREMI), funded by MCIN/AEI/10.13039/501100011033. Some of the computing resources were provided by the Generalitat Valenciana and the European Union through the FEDER funding program (IDIFEDER/2020/003). The second author is supported by grant APOSTD/2020/256 from “Programa I+D+i de la Generalitat Valenciana”
Neural Architecture Search: Insights from 1000 Papers
In the past decade, advances in deep learning have resulted in breakthroughs
in a variety of areas, including computer vision, natural language
understanding, speech recognition, and reinforcement learning. Specialized,
high-performing neural architectures are crucial to the success of deep
learning in these areas. Neural architecture search (NAS), the process of
automating the design of neural architectures for a given task, is an
inevitable next step in automating machine learning and has already outpaced
the best human-designed architectures on many tasks. In the past few years,
research in NAS has been progressing rapidly, with over 1000 papers released
since 2020 (Deng and Lindauer, 2021). In this survey, we provide an organized
and comprehensive guide to neural architecture search. We give a taxonomy of
search spaces, algorithms, and speedup techniques, and we discuss resources
such as benchmarks, best practices, other surveys, and open-source libraries
Human-Art: A Versatile Human-Centric Dataset Bridging Natural and Artificial Scenes
Humans have long been recorded in a variety of forms since antiquity. For
example, sculptures and paintings were the primary media for depicting human
beings before the invention of cameras. However, most current human-centric
computer vision tasks like human pose estimation and human image generation
focus exclusively on natural images in the real world. Artificial humans, such
as those in sculptures, paintings, and cartoons, are commonly neglected, making
existing models fail in these scenarios. As an abstraction of life, art
incorporates humans in both natural and artificial scenes. We take advantage of
it and introduce the Human-Art dataset to bridge related tasks in natural and
artificial scenarios. Specifically, Human-Art contains 50k high-quality images
with over 123k person instances from 5 natural and 15 artificial scenarios,
which are annotated with bounding boxes, keypoints, self-contact points, and
text information for humans represented in both 2D and 3D. It is, therefore,
comprehensive and versatile for various downstream tasks. We also provide a
rich set of baseline results and detailed analyses for related tasks, including
human detection, 2D and 3D human pose estimation, image generation, and motion
transfer. As a challenging dataset, we hope Human-Art can provide insights for
relevant research and open up new research questions.Comment: CVPR202
Procedure-Aware Pretraining for Instructional Video Understanding
Our goal is to learn a video representation that is useful for downstream
procedure understanding tasks in instructional videos. Due to the small amount
of available annotations, a key challenge in procedure understanding is to be
able to extract from unlabeled videos the procedural knowledge such as the
identity of the task (e.g., 'make latte'), its steps (e.g., 'pour milk'), or
the potential next steps given partial progress in its execution. Our main
insight is that instructional videos depict sequences of steps that repeat
between instances of the same or different tasks, and that this structure can
be well represented by a Procedural Knowledge Graph (PKG), where nodes are
discrete steps and edges connect steps that occur sequentially in the
instructional activities. This graph can then be used to generate pseudo labels
to train a video representation that encodes the procedural knowledge in a more
accessible form to generalize to multiple procedure understanding tasks. We
build a PKG by combining information from a text-based procedural knowledge
database and an unlabeled instructional video corpus and then use it to
generate training pseudo labels with four novel pre-training objectives. We
call this PKG-based pre-training procedure and the resulting model Paprika,
Procedure-Aware PRe-training for Instructional Knowledge Acquisition. We
evaluate Paprika on COIN and CrossTask for procedure understanding tasks such
as task recognition, step recognition, and step forecasting. Paprika yields a
video representation that improves over the state of the art: up to 11.23%
gains in accuracy in 12 evaluation settings. Implementation is available at
https://github.com/salesforce/paprika.Comment: CVPR 202
Deep Transfer Learning Applications in Intrusion Detection Systems: A Comprehensive Review
Globally, the external Internet is increasingly being connected to the
contemporary industrial control system. As a result, there is an immediate need
to protect the network from several threats. The key infrastructure of
industrial activity may be protected from harm by using an intrusion detection
system (IDS), a preventive measure mechanism, to recognize new kinds of
dangerous threats and hostile activities. The most recent artificial
intelligence (AI) techniques used to create IDS in many kinds of industrial
control networks are examined in this study, with a particular emphasis on
IDS-based deep transfer learning (DTL). This latter can be seen as a type of
information fusion that merge, and/or adapt knowledge from multiple domains to
enhance the performance of the target task, particularly when the labeled data
in the target domain is scarce. Publications issued after 2015 were taken into
account. These selected publications were divided into three categories:
DTL-only and IDS-only are involved in the introduction and background, and
DTL-based IDS papers are involved in the core papers of this review.
Researchers will be able to have a better grasp of the current state of DTL
approaches used in IDS in many different types of networks by reading this
review paper. Other useful information, such as the datasets used, the sort of
DTL employed, the pre-trained network, IDS techniques, the evaluation metrics
including accuracy/F-score and false alarm rate (FAR), and the improvement
gained, were also covered. The algorithms, and methods used in several studies,
or illustrate deeply and clearly the principle in any DTL-based IDS subcategory
are presented to the reader
Saliency-aware Stereoscopic Video Retargeting
Stereo video retargeting aims to resize an image to a desired aspect ratio.
The quality of retargeted videos can be significantly impacted by the stereo
videos spatial, temporal, and disparity coherence, all of which can be impacted
by the retargeting process. Due to the lack of a publicly accessible annotated
dataset, there is little research on deep learning-based methods for stereo
video retargeting. This paper proposes an unsupervised deep learning-based
stereo video retargeting network. Our model first detects the salient objects
and shifts and warps all objects such that it minimizes the distortion of the
salient parts of the stereo frames. We use 1D convolution for shifting the
salient objects and design a stereo video Transformer to assist the retargeting
process. To train the network, we use the parallax attention mechanism to fuse
the left and right views and feed the retargeted frames to a reconstruction
module that reverses the retargeted frames to the input frames. Therefore, the
network is trained in an unsupervised manner. Extensive qualitative and
quantitative experiments and ablation studies on KITTI stereo 2012 and 2015
datasets demonstrate the efficiency of the proposed method over the existing
state-of-the-art methods. The code is available at
https://github.com/z65451/SVR/.Comment: 8 pages excluding references. CVPRW conferenc
Modelling uncertainties for measurements of the H → γγ Channel with the ATLAS Detector at the LHC
The Higgs boson to diphoton (H → γγ) branching ratio is only 0.227 %, but this
final state has yielded some of the most precise measurements of the particle. As
measurements of the Higgs boson become increasingly precise, greater import is
placed on the factors that constitute the uncertainty. Reducing the effects of these
uncertainties requires an understanding of their causes. The research presented
in this thesis aims to illuminate how uncertainties on simulation modelling are
determined and proffers novel techniques in deriving them.
The upgrade of the FastCaloSim tool is described, used for simulating events in
the ATLAS calorimeter at a rate far exceeding the nominal detector simulation,
Geant4. The integration of a method that allows the toolbox to emulate the
accordion geometry of the liquid argon calorimeters is detailed. This tool allows
for the production of larger samples while using significantly fewer computing
resources.
A measurement of the total Higgs boson production cross-section multiplied
by the diphoton branching ratio (σ × Bγγ) is presented, where this value was
determined to be (σ × Bγγ)obs = 127 ± 7 (stat.) ± 7 (syst.) fb, within agreement
with the Standard Model prediction. The signal and background shape modelling
is described, and the contribution of the background modelling uncertainty to the
total uncertainty ranges from 18–2.4 %, depending on the Higgs boson production
mechanism.
A method for estimating the number of events in a Monte Carlo background
sample required to model the shape is detailed. It was found that the size of
the nominal γγ background events sample required a multiplicative increase by
a factor of 3.60 to adequately model the background with a confidence level of
68 %, or a factor of 7.20 for a confidence level of 95 %. Based on this estimate,
0.5 billion additional simulated events were produced, substantially reducing the
background modelling uncertainty.
A technique is detailed for emulating the effects of Monte Carlo event generator
differences using multivariate reweighting. The technique is used to estimate the
event generator uncertainty on the signal modelling of tHqb events, improving the
reliability of estimating the tHqb production cross-section. Then this multivariate
reweighting technique is used to estimate the generator modelling uncertainties
on background V γγ samples for the first time. The estimated uncertainties were
found to be covered by the currently assumed background modelling uncertainty
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