Semantic Robot Programming for Goal-Directed Manipulation in Cluttered Scenes

We present the Semantic Robot Programming (SRP) paradigm as a convergence of robot programming by demonstration and semantic mapping. In SRP, a user can directly program a robot manipulator by demonstrating a snapshot of their intended goal scene in workspace. The robot then parses this goal as a scene graph comprised of object poses and inter-object relations, assuming known object geometries. Task and motion planning is then used to realize the user's goal from an arbitrary initial scene configuration. Even when faced with different initial scene configurations, SRP enables the robot to seamlessly adapt to reach the user's demonstrated goal. For scene perception, we propose the Discriminatively-Informed Generative Estimation of Scenes and Transforms (DIGEST) method to infer the initial and goal states of the world from RGBD images. The efficacy of SRP with DIGEST perception is demonstrated for the task of tray-setting with a Michigan Progress Fetch robot. Scene perception and task execution are evaluated with a public household occlusion dataset and our cluttered scene dataset.Comment: published in ICRA 201

Is bottom-up attention useful for object recognition?

A key problem in learning multiple objects from unlabeled images is that it is a priori impossible to tell which part of the image corresponds to each individual object, and which part is irrelevant clutter which is not associated to the objects. We investigate empirically to what extent pure bottom-up attention can extract useful information about the location, size and shape of objects from images and demonstrate how this information can be utilized to enable unsupervised learning of objects from unlabeled images. Our experiments demonstrate that the proposed approach to using bottom-up attention is indeed useful for a variety of applications

Where's Waldo?® How perceptual, cognitive, and emotional brain processes cooperate during learning to categorize and find desired objects in a cluttered scene

The Where's Waldo problem concerns how individuals can rapidly scan a scene to detect a target object in it. This dissertation develops the ARTSCAN Search neural model to clarify how brain mechanisms that govern spatial and object attention, spatially-invariant object learning and recognition, reinforcement learning, and eye movement search are coordinated to enable learning and directed search for desired objects at specific locations in a cluttered scene. In the model, interactions from the Where cortical processing stream to the What cortical processing stream modulate invariant category learning of a desired object, whereas interactions from the What cortical processing stream to the Where cortical processing stream support search for the object. In particular, when an invariant object category representation is activated top-down by a cognitive plan or by an active motivational source in the model's What stream, it can shift spatial attention in the Where stream and thereby selectively activate the locations of sought-after object exemplars. These combined What-to-Where and Where-to-What interactions clarify how the brain's solution of the Where's Waldo problem overcomes the complementary deficiencies of What and Where stream processes taken individually by using inter-stream interactions that allow both invariant object recognition and spatially selective attention and action to occur

Invariant Visual Object and Face Recognition: Neural and Computational Bases, and a Model, VisNet

Neurophysiological evidence for invariant representations of objects and faces in the primate inferior temporal visual cortex is described. Then a computational approach to how invariant representations are formed in the brain is described that builds on the neurophysiology. A feature hierarchy model in which invariant representations can be built by self-organizing learning based on the temporal and spatial statistics of the visual input produced by objects as they transform in the world is described. VisNet can use temporal continuity in an associative synaptic learning rule with a short-term memory trace, and/or it can use spatial continuity in continuous spatial transformation learning which does not require a temporal trace. The model of visual processing in the ventral cortical stream can build representations of objects that are invariant with respect to translation, view, size, and also lighting. The model has been extended to provide an account of invariant representations in the dorsal visual system of the global motion produced by objects such as looming, rotation, and object-based movement. The model has been extended to incorporate top-down feedback connections to model the control of attention by biased competition in, for example, spatial and object search tasks. The approach has also been extended to account for how the visual system can select single objects in complex visual scenes, and how multiple objects can be represented in a scene. The approach has also been extended to provide, with an additional layer, for the development of representations of spatial scenes of the type found in the hippocampus

A Developmental Approach to Machine Learning?

Visual learning depends on both the algorithms and the training material. This essay considers the natural statistics of infant- and toddler-egocentric vision. These natural training sets for human visual object recognition are very different from the training data fed into machine vision systems. Rather than equal experiences with all kinds of things, toddlers experience extremely skewed distributions with many repeated occurrences of a very few things. And though highly variable when considered as a whole, individual views of things are experienced in a specific order – with slow, smooth visual changes moment-to-moment, and developmentally ordered transitions in scene content. We propose that the skewed, ordered, biased visual experiences of infants and toddlers are the training data that allow human learners to develop a way to recognize everything, both the pervasively present entities and the rarely encountered ones. The joint consideration of real-world statistics for learning by researchers of human and machine learning seems likely to bring advances in both disciplines

Zero-Annotation Object Detection with Web Knowledge Transfer

Object detection is one of the major problems in computer vision, and has been extensively studied. Most of the existing detection works rely on labor-intensive supervision, such as ground truth bounding boxes of objects or at least image-level annotations. On the contrary, we propose an object detection method that does not require any form of human annotation on target tasks, by exploiting freely available web images. In order to facilitate effective knowledge transfer from web images, we introduce a multi-instance multi-label domain adaption learning framework with two key innovations. First of all, we propose an instance-level adversarial domain adaptation network with attention on foreground objects to transfer the object appearances from web domain to target domain. Second, to preserve the class-specific semantic structure of transferred object features, we propose a simultaneous transfer mechanism to transfer the supervision across domains through pseudo strong label generation. With our end-to-end framework that simultaneously learns a weakly supervised detector and transfers knowledge across domains, we achieved significant improvements over baseline methods on the benchmark datasets.Comment: Accepted in ECCV 201

What do we perceive in a glance of a real-world scene?

What do we see when we glance at a natural scene and how does it change as the glance becomes longer? We asked naive subjects to report in a free-form format what they saw when looking at briefly presented real-life photographs. Our subjects received no specific information as to the content of each stimulus. Thus, our paradigm differs from previous studies where subjects were cued before a picture was presented and/or were probed with multiple-choice questions. In the first stage, 90 novel grayscale photographs were foveally shown to a group of 22 native-English-speaking subjects. The presentation time was chosen at random from a set of seven possible times (from 27 to 500 ms). A perceptual mask followed each photograph immediately. After each presentation, subjects reported what they had just seen as completely and truthfully as possible. In the second stage, another group of naive individuals was instructed to score each of the descriptions produced by the subjects in the first stage. Individual scores were assigned to more than a hundred different attributes. We show that within a single glance, much object- and scene-level information is perceived by human subjects. The richness of our perception, though, seems asymmetrical. Subjects tend to have a propensity toward perceiving natural scenes as being outdoor rather than indoor. The reporting of sensory- or feature-level information of a scene (such as shading and shape) consistently precedes the reporting of the semantic-level information. But once subjects recognize more semantic-level components of a scene, there is little evidence suggesting any bias toward either scene-level or object-level recognition