77,213 research outputs found
Compensating inaccurate annotations to train 3D facial landmark localisation models
In this paper we investigate the impact of inconsistency in manual annotations when they are used to train automatic models for 3D facial landmark localization. We start by showing that it is possible to objectively measure the consistency of annotations in a database, provided that it contains replicates (i.e. repeated scans from the same person). Applying such measure to the widely used FRGC database we find that manual annotations currently available are suboptimal and can strongly impair the accuracy of automatic models learnt therefrom. To address this issue, we present a simple algorithm to automatically correct a set of annotations and show that it can help to significantly improve the accuracy of the models in terms of landmark localization errors. This improvement is observed even when errors are measured with respect to the original (not corrected) annotations. However, we also show that if errors are computed against an alternative set of manual annotations with higher consistency, the accuracy of the models constructed using the corrections from the presented algorithm tends to converge to the one achieved by building the models on the alternative,more consistent set
Discovering Blind Spots in Reinforcement Learning
Agents trained in simulation may make errors in the real world due to
mismatches between training and execution environments. These mistakes can be
dangerous and difficult to discover because the agent cannot predict them a
priori. We propose using oracle feedback to learn a predictive model of these
blind spots to reduce costly errors in real-world applications. We focus on
blind spots in reinforcement learning (RL) that occur due to incomplete state
representation: The agent does not have the appropriate features to represent
the true state of the world and thus cannot distinguish among numerous states.
We formalize the problem of discovering blind spots in RL as a noisy supervised
learning problem with class imbalance. We learn models to predict blind spots
in unseen regions of the state space by combining techniques for label
aggregation, calibration, and supervised learning. The models take into
consideration noise emerging from different forms of oracle feedback, including
demonstrations and corrections. We evaluate our approach on two domains and
show that it achieves higher predictive performance than baseline methods, and
that the learned model can be used to selectively query an oracle at execution
time to prevent errors. We also empirically analyze the biases of various
feedback types and how they influence the discovery of blind spots.Comment: To appear at AAMAS 201
Learning Sensor Feedback Models from Demonstrations via Phase-Modulated Neural Networks
In order to robustly execute a task under environmental uncertainty, a robot
needs to be able to reactively adapt to changes arising in its environment. The
environment changes are usually reflected in deviation from expected sensory
traces. These deviations in sensory traces can be used to drive the motion
adaptation, and for this purpose, a feedback model is required. The feedback
model maps the deviations in sensory traces to the motion plan adaptation. In
this paper, we develop a general data-driven framework for learning a feedback
model from demonstrations. We utilize a variant of a radial basis function
network structure --with movement phases as kernel centers-- which can
generally be applied to represent any feedback models for movement primitives.
To demonstrate the effectiveness of our framework, we test it on the task of
scraping on a tilt board. In this task, we are learning a reactive policy in
the form of orientation adaptation, based on deviations of tactile sensor
traces. As a proof of concept of our method, we provide evaluations on an
anthropomorphic robot. A video demonstrating our approach and its results can
be seen in https://youtu.be/7Dx5imy1KcwComment: 8 pages, accepted to be published at the International Conference on
Robotics and Automation (ICRA) 201
Fast and Continuous Foothold Adaptation for Dynamic Locomotion through CNNs
Legged robots can outperform wheeled machines for most navigation tasks
across unknown and rough terrains. For such tasks, visual feedback is a
fundamental asset to provide robots with terrain-awareness. However, robust
dynamic locomotion on difficult terrains with real-time performance guarantees
remains a challenge. We present here a real-time, dynamic foothold adaptation
strategy based on visual feedback. Our method adjusts the landing position of
the feet in a fully reactive manner, using only on-board computers and sensors.
The correction is computed and executed continuously along the swing phase
trajectory of each leg. To efficiently adapt the landing position, we implement
a self-supervised foothold classifier based on a Convolutional Neural Network
(CNN). Our method results in an up to 200 times faster computation with respect
to the full-blown heuristics. Our goal is to react to visual stimuli from the
environment, bridging the gap between blind reactive locomotion and purely
vision-based planning strategies. We assess the performance of our method on
the dynamic quadruped robot HyQ, executing static and dynamic gaits (at speeds
up to 0.5 m/s) in both simulated and real scenarios; the benefit of safe
foothold adaptation is clearly demonstrated by the overall robot behavior.Comment: 9 pages, 11 figures. Accepted to RA-L + ICRA 2019, January 201
Guided Proofreading of Automatic Segmentations for Connectomics
Automatic cell image segmentation methods in connectomics produce merge and
split errors, which require correction through proofreading. Previous research
has identified the visual search for these errors as the bottleneck in
interactive proofreading. To aid error correction, we develop two classifiers
that automatically recommend candidate merges and splits to the user. These
classifiers use a convolutional neural network (CNN) that has been trained with
errors in automatic segmentations against expert-labeled ground truth. Our
classifiers detect potentially-erroneous regions by considering a large context
region around a segmentation boundary. Corrections can then be performed by a
user with yes/no decisions, which reduces variation of information 7.5x faster
than previous proofreading methods. We also present a fully-automatic mode that
uses a probability threshold to make merge/split decisions. Extensive
experiments using the automatic approach and comparing performance of novice
and expert users demonstrate that our method performs favorably against
state-of-the-art proofreading methods on different connectomics datasets.Comment: Supplemental material available at
http://rhoana.org/guidedproofreading/supplemental.pd
Engaging prisoners in education: Reducing risk and recidivism
Engaging prisoners in education is one of a range of measures that could alleviate security risk in prisons. For prisoners, one of the main challenges with incarceration is monotony, often leading to frustration, raising the risk of injury for staff and other prisoners. This article suggests that prisoner engagement in education may help to alleviate security risk in prisons through relieving monotony and reducing re-offending by promoting critical thinking skills. It discusses some of the challenges to accessing higher levels of education in prisons and argues that if education was considered for its risk-reducing potential and measured accordingly, then some of those challenges could be reduced. It concludes with a discussion of projects undertaken in Australia and the UK that introduce digital technologies into prisons to allow greater access to the self-paced higher levels of education which could help realize the benefits of reduced risk and decreased recidivism rates
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