What is Autonomy?

A system is autonomous if it uses its own information to modify itself and its environment to enhance its survival, responding to both environmental and internal stimuli to modify its basic functions to increase its viability. Autonomy is the foundation of functionality, intentionality and meaning. Autonomous systems accommodate the unexpected through self-organizing processes, together with some constraints that maintain autonomy. Early versions of autonomy, such as autopoiesis and closure to efficient cause, made autonomous systems dynamically closed to information. This contrasts with recent work on open systems and information dynamics. On our account, autonomy is a matter of degree depending on the relative organization of the system and system environment interactions. A choice between third person openness and first person closure is not required

OnionNet: Sharing Features in Cascaded Deep Classifiers

The focus of our work is speeding up evaluation of deep neural networks in retrieval scenarios, where conventional architectures may spend too much time on negative examples. We propose to replace a monolithic network with our novel cascade of feature-sharing deep classifiers, called OnionNet, where subsequent stages may add both new layers as well as new feature channels to the previous ones. Importantly, intermediate feature maps are shared among classifiers, preventing them from the necessity of being recomputed. To accomplish this, the model is trained end-to-end in a principled way under a joint loss. We validate our approach in theory and on a synthetic benchmark. As a result demonstrated in three applications (patch matching, object detection, and image retrieval), our cascade can operate significantly faster than both monolithic networks and traditional cascades without sharing at the cost of marginal decrease in precision.Comment: Accepted to BMVC 201

Deep unsupervised clustering with Gaussian mixture variational autoencoders

We study a variant of the variational autoencoder model with a Gaussian mixture as a prior distribution, with the goal of performing unsupervised clustering through deep generative models. We observe that the standard variational approach in these models is unsuited for unsupervised clustering, and mitigate this problem by leveraging a principled information-theoretic regularisation term known as consistency violation. Adding this term to the standard variational optimisation objective yields networks with both meaningful internal representations and well-defined clusters. We demonstrate the performance of this scheme on synthetic data, MNIST and SVHN, showing that the obtained clusters are distinct, interpretable and result in achieving higher performance on unsupervised clustering classification than previous approaches

A Statistical Toolbox For Mining And Modeling Spatial Data

Most data mining projects in spatial economics start with an evaluation of a set of attribute variables on a sample of spatial entities, looking for the existence and strength of spatial autocorrelation, based on the Moran’s and the Geary’s coefficients, the adequacy of which is rarely challenged, despite the fact that when reporting on their properties, many users seem likely to make mistakes and to foster confusion. My paper begins by a critical appraisal of the classical definition and rational of these indices. I argue that while intuitively founded, they are plagued by an inconsistency in their conception. Then, I propose a principled small change leading to corrected spatial autocorrelation coefficients, which strongly simplifies their relationship, and opens the way to an augmented toolbox of statistical methods of dimension reduction and data visualization, also useful for modeling purposes. A second section presents a formal framework, adapted from recent work in statistical learning, which gives theoretical support to our definition of corrected spatial autocorrelation coefficients. More specifically, the multivariate data mining methods presented here, are easily implementable on the existing (free) software, yield methods useful to exploit the proposed corrections in spatial data analysis practice, and, from a mathematical point of view, whose asymptotic behavior, already studied in a series of papers by Belkin & Niyogi, suggests that they own qualities of robustness and a limited sensitivity to the Modifiable Areal Unit Problem (MAUP), valuable in exploratory spatial data analysis

Informative Path Planning for Active Field Mapping under Localization Uncertainty

Information gathering algorithms play a key role in unlocking the potential of robots for efficient data collection in a wide range of applications. However, most existing strategies neglect the fundamental problem of the robot pose uncertainty, which is an implicit requirement for creating robust, high-quality maps. To address this issue, we introduce an informative planning framework for active mapping that explicitly accounts for the pose uncertainty in both the mapping and planning tasks. Our strategy exploits a Gaussian Process (GP) model to capture a target environmental field given the uncertainty on its inputs. For planning, we formulate a new utility function that couples the localization and field mapping objectives in GP-based mapping scenarios in a principled way, without relying on any manually tuned parameters. Extensive simulations show that our approach outperforms existing strategies, with reductions in mean pose uncertainty and map error. We also present a proof of concept in an indoor temperature mapping scenario.Comment: 8 pages, 7 figures, submission (revised) to Robotics & Automation Letters (and IEEE International Conference on Robotics and Automation