43,170 research outputs found
Towards Visual Ego-motion Learning in Robots
Many model-based Visual Odometry (VO) algorithms have been proposed in the
past decade, often restricted to the type of camera optics, or the underlying
motion manifold observed. We envision robots to be able to learn and perform
these tasks, in a minimally supervised setting, as they gain more experience.
To this end, we propose a fully trainable solution to visual ego-motion
estimation for varied camera optics. We propose a visual ego-motion learning
architecture that maps observed optical flow vectors to an ego-motion density
estimate via a Mixture Density Network (MDN). By modeling the architecture as a
Conditional Variational Autoencoder (C-VAE), our model is able to provide
introspective reasoning and prediction for ego-motion induced scene-flow.
Additionally, our proposed model is especially amenable to bootstrapped
ego-motion learning in robots where the supervision in ego-motion estimation
for a particular camera sensor can be obtained from standard navigation-based
sensor fusion strategies (GPS/INS and wheel-odometry fusion). Through
experiments, we show the utility of our proposed approach in enabling the
concept of self-supervised learning for visual ego-motion estimation in
autonomous robots.Comment: Conference paper; Submitted to IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS) 2017, Vancouver CA; 8 pages, 8 figures,
2 table
DeepInf: Social Influence Prediction with Deep Learning
Social and information networking activities such as on Facebook, Twitter,
WeChat, and Weibo have become an indispensable part of our everyday life, where
we can easily access friends' behaviors and are in turn influenced by them.
Consequently, an effective social influence prediction for each user is
critical for a variety of applications such as online recommendation and
advertising.
Conventional social influence prediction approaches typically design various
hand-crafted rules to extract user- and network-specific features. However,
their effectiveness heavily relies on the knowledge of domain experts. As a
result, it is usually difficult to generalize them into different domains.
Inspired by the recent success of deep neural networks in a wide range of
computing applications, we design an end-to-end framework, DeepInf, to learn
users' latent feature representation for predicting social influence. In
general, DeepInf takes a user's local network as the input to a graph neural
network for learning her latent social representation. We design strategies to
incorporate both network structures and user-specific features into
convolutional neural and attention networks. Extensive experiments on Open
Academic Graph, Twitter, Weibo, and Digg, representing different types of
social and information networks, demonstrate that the proposed end-to-end
model, DeepInf, significantly outperforms traditional feature engineering-based
approaches, suggesting the effectiveness of representation learning for social
applications.Comment: 10 pages, 5 figures, to appear in KDD 2018 proceeding
Going Deeper into First-Person Activity Recognition
We bring together ideas from recent work on feature design for egocentric
action recognition under one framework by exploring the use of deep
convolutional neural networks (CNN). Recent work has shown that features such
as hand appearance, object attributes, local hand motion and camera ego-motion
are important for characterizing first-person actions. To integrate these ideas
under one framework, we propose a twin stream network architecture, where one
stream analyzes appearance information and the other stream analyzes motion
information. Our appearance stream encodes prior knowledge of the egocentric
paradigm by explicitly training the network to segment hands and localize
objects. By visualizing certain neuron activation of our network, we show that
our proposed architecture naturally learns features that capture object
attributes and hand-object configurations. Our extensive experiments on
benchmark egocentric action datasets show that our deep architecture enables
recognition rates that significantly outperform state-of-the-art techniques --
an average increase in accuracy over all datasets. Furthermore, by
learning to recognize objects, actions and activities jointly, the performance
of individual recognition tasks also increase by (actions) and
(objects). We also include the results of extensive ablative analysis to
highlight the importance of network design decisions.
A Network Topology Approach to Bot Classification
Automated social agents, or bots, are increasingly becoming a problem on
social media platforms. There is a growing body of literature and multiple
tools to aid in the detection of such agents on online social networking
platforms. We propose that the social network topology of a user would be
sufficient to determine whether the user is a automated agent or a human. To
test this, we use a publicly available dataset containing users on Twitter
labelled as either automated social agent or human. Using an unsupervised
machine learning approach, we obtain a detection accuracy rate of 70%
An Automated Social Graph De-anonymization Technique
We present a generic and automated approach to re-identifying nodes in
anonymized social networks which enables novel anonymization techniques to be
quickly evaluated. It uses machine learning (decision forests) to matching
pairs of nodes in disparate anonymized sub-graphs. The technique uncovers
artefacts and invariants of any black-box anonymization scheme from a small set
of examples. Despite a high degree of automation, classification succeeds with
significant true positive rates even when small false positive rates are
sought. Our evaluation uses publicly available real world datasets to study the
performance of our approach against real-world anonymization strategies, namely
the schemes used to protect datasets of The Data for Development (D4D)
Challenge. We show that the technique is effective even when only small numbers
of samples are used for training. Further, since it detects weaknesses in the
black-box anonymization scheme it can re-identify nodes in one social network
when trained on another.Comment: 12 page
Imitating Driver Behavior with Generative Adversarial Networks
The ability to accurately predict and simulate human driving behavior is
critical for the development of intelligent transportation systems. Traditional
modeling methods have employed simple parametric models and behavioral cloning.
This paper adopts a method for overcoming the problem of cascading errors
inherent in prior approaches, resulting in realistic behavior that is robust to
trajectory perturbations. We extend Generative Adversarial Imitation Learning
to the training of recurrent policies, and we demonstrate that our model
outperforms rule-based controllers and maximum likelihood models in realistic
highway simulations. Our model both reproduces emergent behavior of human
drivers, such as lane change rate, while maintaining realistic control over
long time horizons.Comment: 8 pages, 6 figure
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