1,724 research outputs found
Composite Correlation Quantization for Efficient Multimodal Retrieval
Efficient similarity retrieval from large-scale multimodal database is
pervasive in modern search engines and social networks. To support queries
across content modalities, the system should enable cross-modal correlation and
computation-efficient indexing. While hashing methods have shown great
potential in achieving this goal, current attempts generally fail to learn
isomorphic hash codes in a seamless scheme, that is, they embed multiple
modalities in a continuous isomorphic space and separately threshold embeddings
into binary codes, which incurs substantial loss of retrieval accuracy. In this
paper, we approach seamless multimodal hashing by proposing a novel Composite
Correlation Quantization (CCQ) model. Specifically, CCQ jointly finds
correlation-maximal mappings that transform different modalities into
isomorphic latent space, and learns composite quantizers that convert the
isomorphic latent features into compact binary codes. An optimization framework
is devised to preserve both intra-modal similarity and inter-modal correlation
through minimizing both reconstruction and quantization errors, which can be
trained from both paired and partially paired data in linear time. A
comprehensive set of experiments clearly show the superior effectiveness and
efficiency of CCQ against the state of the art hashing methods for both
unimodal and cross-modal retrieval
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Intuitive Human-Machine Interfaces for Non-Anthropomorphic Robotic Hands
As robots become more prevalent in our everyday lives, both in our workplaces and in our homes, it becomes increasingly likely that people who are not experts in robotics will be asked to interface with robotic devices. It is therefore important to develop robotic controls that are intuitive and easy for novices to use. Robotic hands, in particular, are very useful, but their high dimensionality makes creating intuitive human-machine interfaces for them complex. In this dissertation, we study the control of non-anthropomorphic robotic hands by non-roboticists in two contexts: collaborative manipulation and assistive robotics.
In the field of collaborative manipulation, the human and the robot work side by side as independent agents. Teleoperation allows the human to assist the robot when autonomous grasping is not able to deal sufficiently well with corner cases or cannot operate fast enough. Using the teleoperator’s hand as an input device can provide an intuitive control method, but finding a mapping between a human hand and a non-anthropomorphic robot hand can be difficult, due to the hands’ dissimilar kinematics. In this dissertation, we seek to create a mapping between the human hand and a fully actuated, non-anthropomorphic robot hand that is intuitive enough to enable effective real-time teleoperation, even for novice users.
We propose a low-dimensional and continuous teleoperation subspace which can be used as an intermediary for mapping between different hand pose spaces. We first propose the general concept of the subspace, its properties and the variables needed to map from the human hand to a robot hand. We then propose three ways to populate the teleoperation subspace mapping. Two of our mappings use a dataglove to harvest information about the user's hand. We define the mapping between joint space and teleoperation subspace with an empirical definition, which requires a person to define hand motions in an intuitive, hand-specific way, and with an algorithmic definition, which is kinematically independent, and uses objects to define the subspace. Our third mapping for the teleoperation subspace uses forearm electromyography (EMG) as a control input.
Assistive orthotics is another area of robotics where human-machine interfaces are critical, since, in this field, the robot is attached to the hand of the human user. In this case, the goal is for the robot to assist the human with movements they would not otherwise be able to achieve. Orthotics can improve the quality of life of people who do not have full use of their hands. Human-machine interfaces for assistive hand orthotics that use EMG signals from the affected forearm as input are intuitive and repeated use can strengthen the muscles of the user's affected arm. In this dissertation, we seek to create an EMG based control for an orthotic device used by people who have had a stroke. We would like our control to enable functional motions when used in conjunction with a orthosis and to be robust to changes in the input signal.
We propose a control for a wearable hand orthosis which uses an easy to don, commodity forearm EMG band. We develop an supervised algorithm to detect a user’s intent to open and close their hand, and pair this algorithm with a training protocol which makes our intent detection robust to changes in the input signal. We show that this algorithm, when used in conjunction with an orthosis over several weeks, can improve distal function in users. Additionally, we propose two semi-supervised intent detection algorithms designed to keep our control robust to changes in the input data while reducing the length and frequency of our training protocol
On the Nature and Types of Anomalies: A Review
Anomalies are occurrences in a dataset that are in some way unusual and do
not fit the general patterns. The concept of the anomaly is generally
ill-defined and perceived as vague and domain-dependent. Moreover, despite some
250 years of publications on the topic, no comprehensive and concrete overviews
of the different types of anomalies have hitherto been published. By means of
an extensive literature review this study therefore offers the first
theoretically principled and domain-independent typology of data anomalies, and
presents a full overview of anomaly types and subtypes. To concretely define
the concept of the anomaly and its different manifestations, the typology
employs five dimensions: data type, cardinality of relationship, anomaly level,
data structure and data distribution. These fundamental and data-centric
dimensions naturally yield 3 broad groups, 9 basic types and 61 subtypes of
anomalies. The typology facilitates the evaluation of the functional
capabilities of anomaly detection algorithms, contributes to explainable data
science, and provides insights into relevant topics such as local versus global
anomalies.Comment: 38 pages (30 pages content), 10 figures, 3 tables. Preprint; review
comments will be appreciated. Improvements in version 2: Explicit mention of
fifth anomaly dimension; Added section on explainable anomaly detection;
Added section on variations on the anomaly concept; Various minor additions
and improvement
Context Selection on Attributed Graphs for Outlier and Community Detection
Today\u27s applications store large amounts of complex data that combine information of different types. Attributed graphs are an example for such a complex database where each object is characterized by its relationships to other objects and its individual properties. Specifically, each node in an attributed graph may be characterized by a large number of attributes. In this thesis, we present different approaches for mining such high dimensional attributed graphs
Unmasking Clever Hans Predictors and Assessing What Machines Really Learn
Current learning machines have successfully solved hard application problems,
reaching high accuracy and displaying seemingly "intelligent" behavior. Here we
apply recent techniques for explaining decisions of state-of-the-art learning
machines and analyze various tasks from computer vision and arcade games. This
showcases a spectrum of problem-solving behaviors ranging from naive and
short-sighted, to well-informed and strategic. We observe that standard
performance evaluation metrics can be oblivious to distinguishing these diverse
problem solving behaviors. Furthermore, we propose our semi-automated Spectral
Relevance Analysis that provides a practically effective way of characterizing
and validating the behavior of nonlinear learning machines. This helps to
assess whether a learned model indeed delivers reliably for the problem that it
was conceived for. Furthermore, our work intends to add a voice of caution to
the ongoing excitement about machine intelligence and pledges to evaluate and
judge some of these recent successes in a more nuanced manner.Comment: Accepted for publication in Nature Communication
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