Deep Directional Statistics: Pose Estimation with Uncertainty Quantification

Modern deep learning systems successfully solve many perception tasks such as object pose estimation when the input image is of high quality. However, in challenging imaging conditions such as on low-resolution images or when the image is corrupted by imaging artifacts, current systems degrade considerably in accuracy. While a loss in performance is unavoidable, we would like our models to quantify their uncertainty in order to achieve robustness against images of varying quality. Probabilistic deep learning models combine the expressive power of deep learning with uncertainty quantification. In this paper, we propose a novel probabilistic deep learning model for the task of angular regression. Our model uses von Mises distributions to predict a distribution over object pose angle. Whereas a single von Mises distribution is making strong assumptions about the shape of the distribution, we extend the basic model to predict a mixture of von Mises distributions. We show how to learn a mixture model using a finite and infinite number of mixture components. Our model allows for likelihood-based training and efficient inference at test time. We demonstrate on a number of challenging pose estimation datasets that our model produces calibrated probability predictions and competitive or superior point estimates compared to the current state-of-the-art

Learning to Understand by Evolving Theories

In this paper, we describe an approach that enables an autonomous system to infer the semantics of a command (i.e. a symbol sequence representing an action) in terms of the relations between changes in the observations and the action instances. We present a method of how to induce a theory (i.e. a semantic description) of the meaning of a command in terms of a minimal set of background knowledge. The only thing we have is a sequence of observations from which we extract what kinds of effects were caused by performing the command. This way, we yield a description of the semantics of the action and, hence, a definition.Comment: KRR Workshop at ICLP 201

Generalized Lattice Gauge Theory, Spin Foams and State Sum Invariants

We construct a generalization of pure lattice gauge theory (LGT) where the role of the gauge group is played by a tensor category. The type of tensor category admissible (spherical, ribbon, symmetric) depends on the dimension of the underlying manifold (<=3, <=4, any). Ordinary LGT is recovered if the category is the (symmetric) category of representations of a compact Lie group. In the weak coupling limit we recover discretized BF-theory in terms of a coordinate free version of the spin foam formulation. We work on general cellular decompositions of the underlying manifold. In particular, we are able to formulate LGT as well as spin foam models of BF-type with quantum gauge group (in dimension <=4) and with supersymmetric gauge group (in any dimension). Technically, we express the partition function as a sum over diagrams denoting morphisms in the underlying category. On the LGT side this enables us to introduce a generalized notion of gauge fixing corresponding to a topological move between cellular decompositions of the underlying manifold. On the BF-theory side this allows a rather geometric understanding of the state sum invariants of Turaev/Viro, Barrett/Westbury and Crane/Yetter which we recover. The construction is extended to include Wilson loop and spin network type observables as well as manifolds with boundaries. In the topological (weak coupling) case this leads to TQFTs with or without embedded spin networks.Comment: 58 pages, LaTeX with AMS and XY-Pic macros; typos corrected and references update

Localized mirror functor constructed from a Lagrangian torus

Fixing a weakly unobstructed Lagrangian torus in a symplectic manifold X, we define a holomorphic function W known as the Floer potential. We construct a canonical A-infinity functor from the Fukaya category of X to the category of matrix factorizations of W. It provides a unified way to construct matrix factorizations from Lagrangian Floer theory. The technique is applied to toric Fano manifolds to transform Lagrangian branes to matrix factorizations. Using the method, we also obtain an explicit expression of the matrix factorization mirror to the real locus of the complex projective space.Comment: 52 pages, 14 figures, Theorem 9.1 adde

Localized mirror functor constructed from a Lagrangian torus

Fixing a weakly unobstructed Lagrangian torus in a symplectic manifold , we define a holomorphic function known as the Floer potential. We construct a canonical ∞ -functor from the Fukaya category of to the category of matrix factorizations of . It provides a unified way to construct matrix factorizations from Lagrangian Floer theory. The technique is applied to toric Fano manifolds to transform Lagrangian branes to matrix factorizations and prove homological mirror symmetry. Using the method, we also obtain an explicit expression of the matrix factorization mirror to the real locus of the complex projective space.Accepted manuscrip

New Directions in Non-Relativistic and Relativistic Rotational and Multipole Kinematics for N-Body and Continuous Systems

In non-relativistic mechanics the center of mass of an isolated system is easily separated out from the relative variables. For a N-body system these latter are usually described by a set of Jacobi normal coordinates, based on the clustering of the centers of mass of sub-clusters. The Jacobi variables are then the starting point for separating {\it orientational} variables, connected with the angular momentum constants of motion, from {\it shape} (or {\it vibrational}) variables. Jacobi variables, however, cannot be extended to special relativity. We show by group-theoretical methods that two new sets of relative variables can be defined in terms of a {\it clustering of the angular momenta of sub-clusters} and directly related to the so-called {\it dynamical body frames} and {\it canonical spin bases}. The underlying group-theoretical structure allows a direct extension of such notions from a non-relativistic to a special- relativistic context if one exploits the {\it rest-frame instant form of dynamics}. The various known definitions of relativistic center of mass are recovered. The separation of suitable relative variables from the so-called {\it canonical internal} center of mass leads to the correct kinematical framework for the relativistic theory of the orbits for a N-body system with action -at-a-distance interactions. The rest-frame instant form is also shown to be the correct kinematical framework for introducing the Dixon multi-poles for closed and open N-body systems, as well as for continuous systems, exemplified here by the configurations of the Klein-Gordon field that are compatible with the previous notions of center of mass.Comment: Latex, p.75, Invited contribution for the book {\it Atomic and Molecular Clusters: New Research} (Nova Science

A geometric discretisation scheme applied to the Abelian Chern-Simons theory

We give a detailed general description of a recent geometrical discretisation scheme and illustrate, by explicit numerical calculation, the scheme's ability to capture topological features. The scheme is applied to the Abelian Chern-Simons theory and leads, after a necessary field doubling, to an expression for the discrete partition function in terms of untwisted Reidemeister torsion and of various triangulation dependent factors. The discrete partition function is evaluated computationally for various triangulations of $S^3$ and of lens spaces. The results confirm that the discretisation scheme is triangulation independent and coincides with the continuum partition functionComment: 27 pages, 5 figures, 6 tables. in late