7,221 research outputs found
Age Progression/Regression by Conditional Adversarial Autoencoder
"If I provide you a face image of mine (without telling you the actual age
when I took the picture) and a large amount of face images that I crawled
(containing labeled faces of different ages but not necessarily paired), can
you show me what I would look like when I am 80 or what I was like when I was
5?" The answer is probably a "No." Most existing face aging works attempt to
learn the transformation between age groups and thus would require the paired
samples as well as the labeled query image. In this paper, we look at the
problem from a generative modeling perspective such that no paired samples is
required. In addition, given an unlabeled image, the generative model can
directly produce the image with desired age attribute. We propose a conditional
adversarial autoencoder (CAAE) that learns a face manifold, traversing on which
smooth age progression and regression can be realized simultaneously. In CAAE,
the face is first mapped to a latent vector through a convolutional encoder,
and then the vector is projected to the face manifold conditional on age
through a deconvolutional generator. The latent vector preserves personalized
face features (i.e., personality) and the age condition controls progression
vs. regression. Two adversarial networks are imposed on the encoder and
generator, respectively, forcing to generate more photo-realistic faces.
Experimental results demonstrate the appealing performance and flexibility of
the proposed framework by comparing with the state-of-the-art and ground truth.Comment: Accepted by The IEEE Conference on Computer Vision and Pattern
Recognition (CVPR 2017
Learning Latent Space Dynamics for Tactile Servoing
To achieve a dexterous robotic manipulation, we need to endow our robot with
tactile feedback capability, i.e. the ability to drive action based on tactile
sensing. In this paper, we specifically address the challenge of tactile
servoing, i.e. given the current tactile sensing and a target/goal tactile
sensing --memorized from a successful task execution in the past-- what is the
action that will bring the current tactile sensing to move closer towards the
target tactile sensing at the next time step. We develop a data-driven approach
to acquire a dynamics model for tactile servoing by learning from
demonstration. Moreover, our method represents the tactile sensing information
as to lie on a surface --or a 2D manifold-- and perform a manifold learning,
making it applicable to any tactile skin geometry. We evaluate our method on a
contact point tracking task using a robot equipped with a tactile finger. A
video demonstrating our approach can be seen in https://youtu.be/0QK0-Vx7WkIComment: Accepted to be published at the International Conference on Robotics
and Automation (ICRA) 2019. The final version for publication at ICRA 2019 is
7 pages (i.e. 6 pages of technical content (including text, figures, tables,
acknowledgement, etc.) and 1 page of the Bibliography/References), while this
arXiv version is 8 pages (added Appendix and some extra details
Diffusion Variational Autoencoders
A standard Variational Autoencoder, with a Euclidean latent space, is
structurally incapable of capturing topological properties of certain datasets.
To remove topological obstructions, we introduce Diffusion Variational
Autoencoders with arbitrary manifolds as a latent space. A Diffusion
Variational Autoencoder uses transition kernels of Brownian motion on the
manifold. In particular, it uses properties of the Brownian motion to implement
the reparametrization trick and fast approximations to the KL divergence. We
show that the Diffusion Variational Autoencoder is capable of capturing
topological properties of synthetic datasets. Additionally, we train MNIST on
spheres, tori, projective spaces, SO(3), and a torus embedded in R3. Although a
natural dataset like MNIST does not have latent variables with a clear-cut
topological structure, training it on a manifold can still highlight
topological and geometrical properties.Comment: 10 pages, 8 figures Added an appendix with derivation of asymptotic
expansion of KL divergence for heat kernel on arbitrary Riemannian manifolds,
and an appendix with new experiments on binarized MNIST. Added a previously
missing factor in the asymptotic expansion of the heat kernel and corrected a
coefficient in asymptotic expansion KL divergence; further minor edit
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