1,308 research outputs found
Parametric active learning techniques for 3D hand pose estimation
Active learning (AL) has recently gained popularity for deep learning (DL) models due to efficient and informative sampling, especially when the models
require large-scale datasets. The DL models designed for 3D-HPE demand
accurate and diverse large-scale datasets that are time-consuming, costly and
require experts. This thesis aims to explore AL primarily for the 3D hand
pose estimation (3D-HPE) task for the first time.
The thesis delves directly into an AL methodology customised for 3D-HPE learners to address this. Because predominantly the learners are regression-based algorithms, a Bayesian approximation of a DL architecture is presented to model uncertainties. This approximation generates data and model-
dependent uncertainties that are further combined with the data representativeness AL function, CoreSet, for sampling. Despite being the first work, it
creates informative samples and minimal joint errors with less training data
on three well-known depth datasets.
The second AL algorithm continues to improve the selection following a
new trend of parametric samplers. Precisely, this is proceeded task-agnostic with a Graph Convolutional Network (GCN) to offer higher order of representations between labelled and unlabelled data. The newly selected unlabelled
images are ranked based on uncertainty or GCN feature distribution.
Another novel sampler extends this idea, and tackles encountered AL issues,
like cold-start and distribution shift, by training in a self-supervised way with
contrastive learning. It shows leveraging the visual concepts from labelled
and unlabelled images while attaining state-of-the-art results.
The last part of the thesis brings prior AL insights and achievements in a
unified parametric-based sampler proposal for the multi-modal 3D-HPE task.
This sampler trains multi-variational auto-encoders to align the modalities
and provide better selection representation. Several query functions are
studied to open a new direction in deep AL sampling.Open Acces
Jointly Trained Variational Autoencoder for Multi-Modal Sensor Fusion
Korthals T, Hesse M, Leitner J, Melnik A, Rückert U. Jointly Trained Variational Autoencoder for Multi-Modal Sensor Fusion. In: 22st International Conference on Information Fusion, (FUSION) 2019, Ottawa, CA, July 2-5, 2019. 2019: 1-8
An Overview about Emerging Technologies of Autonomous Driving
Since DARPA started Grand Challenges in 2004 and Urban Challenges in 2007,
autonomous driving has been the most active field of AI applications. This
paper gives an overview about technical aspects of autonomous driving
technologies and open problems. We investigate the major fields of self-driving
systems, such as perception, mapping and localization, prediction, planning and
control, simulation, V2X and safety etc. Especially we elaborate on all these
issues in a framework of data closed loop, a popular platform to solve the long
tailed autonomous driving problems
Backwards is the way forward: feedback in the cortical hierarchy predicts the expected future
Clark offers a powerful description of the brain as a prediction machine, which offers progress on two distinct levels. First, on an abstract conceptual level, it provides a unifying framework for perception, action, and cognition (including subdivisions such as attention, expectation, and imagination). Second, hierarchical prediction offers progress on a concrete descriptive level for testing and constraining conceptual elements and mechanisms of predictive coding models (estimation of predictions, prediction errors, and internal models)
Simulation Intelligence: Towards a New Generation of Scientific Methods
The original "Seven Motifs" set forth a roadmap of essential methods for the
field of scientific computing, where a motif is an algorithmic method that
captures a pattern of computation and data movement. We present the "Nine
Motifs of Simulation Intelligence", a roadmap for the development and
integration of the essential algorithms necessary for a merger of scientific
computing, scientific simulation, and artificial intelligence. We call this
merger simulation intelligence (SI), for short. We argue the motifs of
simulation intelligence are interconnected and interdependent, much like the
components within the layers of an operating system. Using this metaphor, we
explore the nature of each layer of the simulation intelligence operating
system stack (SI-stack) and the motifs therein: (1) Multi-physics and
multi-scale modeling; (2) Surrogate modeling and emulation; (3)
Simulation-based inference; (4) Causal modeling and inference; (5) Agent-based
modeling; (6) Probabilistic programming; (7) Differentiable programming; (8)
Open-ended optimization; (9) Machine programming. We believe coordinated
efforts between motifs offers immense opportunity to accelerate scientific
discovery, from solving inverse problems in synthetic biology and climate
science, to directing nuclear energy experiments and predicting emergent
behavior in socioeconomic settings. We elaborate on each layer of the SI-stack,
detailing the state-of-art methods, presenting examples to highlight challenges
and opportunities, and advocating for specific ways to advance the motifs and
the synergies from their combinations. Advancing and integrating these
technologies can enable a robust and efficient hypothesis-simulation-analysis
type of scientific method, which we introduce with several use-cases for
human-machine teaming and automated science
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