29,458 research outputs found
Grounding semantics in robots for Visual Question Answering
In this thesis I describe an operational implementation of an object detection and description system that incorporates in an end-to-end Visual Question Answering system and evaluated it on two visual question answering datasets for compositional language and elementary visual reasoning
k-Nearest Neighbour Classifiers: 2nd Edition (with Python examples)
Perhaps the most straightforward classifier in the arsenal or machine
learning techniques is the Nearest Neighbour Classifier -- classification is
achieved by identifying the nearest neighbours to a query example and using
those neighbours to determine the class of the query. This approach to
classification is of particular importance because issues of poor run-time
performance is not such a problem these days with the computational power that
is available. This paper presents an overview of techniques for Nearest
Neighbour classification focusing on; mechanisms for assessing similarity
(distance), computational issues in identifying nearest neighbours and
mechanisms for reducing the dimension of the data.
This paper is the second edition of a paper previously published as a
technical report. Sections on similarity measures for time-series, retrieval
speed-up and intrinsic dimensionality have been added. An Appendix is included
providing access to Python code for the key methods.Comment: 22 pages, 15 figures: An updated edition of an older tutorial on kN
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age
Simultaneous Localization and Mapping (SLAM)consists in the concurrent
construction of a model of the environment (the map), and the estimation of the
state of the robot moving within it. The SLAM community has made astonishing
progress over the last 30 years, enabling large-scale real-world applications,
and witnessing a steady transition of this technology to industry. We survey
the current state of SLAM. We start by presenting what is now the de-facto
standard formulation for SLAM. We then review related work, covering a broad
set of topics including robustness and scalability in long-term mapping, metric
and semantic representations for mapping, theoretical performance guarantees,
active SLAM and exploration, and other new frontiers. This paper simultaneously
serves as a position paper and tutorial to those who are users of SLAM. By
looking at the published research with a critical eye, we delineate open
challenges and new research issues, that still deserve careful scientific
investigation. The paper also contains the authors' take on two questions that
often animate discussions during robotics conferences: Do robots need SLAM? and
Is SLAM solved
Multimodal Explainable Artificial Intelligence: A Comprehensive Review of Methodological Advances and Future Research Directions
The current study focuses on systematically analyzing the recent advances in
the field of Multimodal eXplainable Artificial Intelligence (MXAI). In
particular, the relevant primary prediction tasks and publicly available
datasets are initially described. Subsequently, a structured presentation of
the MXAI methods of the literature is provided, taking into account the
following criteria: a) The number of the involved modalities, b) The stage at
which explanations are produced, and c) The type of the adopted methodology
(i.e. mathematical formalism). Then, the metrics used for MXAI evaluation are
discussed. Finally, a comprehensive analysis of current challenges and future
research directions is provided.Comment: 26 pages, 11 figure
Building Machines That Learn and Think Like People
Recent progress in artificial intelligence (AI) has renewed interest in
building systems that learn and think like people. Many advances have come from
using deep neural networks trained end-to-end in tasks such as object
recognition, video games, and board games, achieving performance that equals or
even beats humans in some respects. Despite their biological inspiration and
performance achievements, these systems differ from human intelligence in
crucial ways. We review progress in cognitive science suggesting that truly
human-like learning and thinking machines will have to reach beyond current
engineering trends in both what they learn, and how they learn it.
Specifically, we argue that these machines should (a) build causal models of
the world that support explanation and understanding, rather than merely
solving pattern recognition problems; (b) ground learning in intuitive theories
of physics and psychology, to support and enrich the knowledge that is learned;
and (c) harness compositionality and learning-to-learn to rapidly acquire and
generalize knowledge to new tasks and situations. We suggest concrete
challenges and promising routes towards these goals that can combine the
strengths of recent neural network advances with more structured cognitive
models.Comment: In press at Behavioral and Brain Sciences. Open call for commentary
proposals (until Nov. 22, 2016).
https://www.cambridge.org/core/journals/behavioral-and-brain-sciences/information/calls-for-commentary/open-calls-for-commentar
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