Towards Learning a Self-inverse Network for Bidirectional Image-to-image Translation

The one-to-one mapping is necessary for many bidirectional image-to-image translation applications, such as MRI image synthesis as MRI images are unique to the patient. State-of-the-art approaches for image synthesis from domain X to domain Y learn a convolutional neural network that meticulously maps between the domains. A different network is typically implemented to map along the opposite direction, from Y to X. In this paper, we explore the possibility of only wielding one network for bi-directional image synthesis. In other words, such an autonomous learning network implements a self-inverse function. A self-inverse network shares several distinct advantages: only one network instead of two, better generalization and more restricted parameter space. Most importantly, a self-inverse function guarantees a one-to-one mapping, a property that cannot be guaranteed by earlier approaches that are not self-inverse. The experiments on three datasets show that, compared with the baseline approaches that use two separate models for the image synthesis along two directions, our self-inverse network achieves better synthesis results in terms of standard metrics. Finally, our sensitivity analysis confirms the feasibility of learning a self-inverse function for the bidirectional image translation.Comment: 10 pages, 9 figure

A Compositional Textual Model for Recognition of Imperfect Word Images

Printed text recognition is an important problem for industrial OCR systems. Printed text is constructed in a standard procedural fashion in most settings. We develop a mathematical model for this process that can be applied to the backward inference problem of text recognition from an image. Through ablation experiments we show that this model is realistic and that a multi-task objective setting can help to stabilize estimation of its free parameters, enabling use of conventional deep learning methods. Furthermore, by directly modeling the geometric perturbations of text synthesis we show that our model can help recover missing characters from incomplete text regions, the bane of multicomponent OCR systems, enabling recognition even when the detection returns incomplete information

On the Origin of Deep Learning

This paper is a review of the evolutionary history of deep learning models. It covers from the genesis of neural networks when associationism modeling of the brain is studied, to the models that dominate the last decade of research in deep learning like convolutional neural networks, deep belief networks, and recurrent neural networks. In addition to a review of these models, this paper primarily focuses on the precedents of the models above, examining how the initial ideas are assembled to construct the early models and how these preliminary models are developed into their current forms. Many of these evolutionary paths last more than half a century and have a diversity of directions. For example, CNN is built on prior knowledge of biological vision system; DBN is evolved from a trade-off of modeling power and computation complexity of graphical models and many nowadays models are neural counterparts of ancient linear models. This paper reviews these evolutionary paths and offers a concise thought flow of how these models are developed, and aims to provide a thorough background for deep learning. More importantly, along with the path, this paper summarizes the gist behind these milestones and proposes many directions to guide the future research of deep learning.Comment: 70 pages, 200 reference

Improve Diverse Text Generation by Self Labeling Conditional Variational Auto Encoder

Diversity plays a vital role in many text generating applications. In recent years, Conditional Variational Auto Encoders (CVAE) have shown promising performances for this task. However, they often encounter the so called KL-Vanishing problem. Previous works mitigated such problem by heuristic methods such as strengthening the encoder or weakening the decoder while optimizing the CVAE objective function. Nevertheless, the optimizing direction of these methods are implicit and it is hard to find an appropriate degree to which these methods should be applied. In this paper, we propose an explicit optimizing objective to complement the CVAE to directly pull away from KL-vanishing. In fact, this objective term guides the encoder towards the "best encoder" of the decoder to enhance the expressiveness. A labeling network is introduced to estimate the "best encoder". It provides a continuous label in the latent space of CVAE to help build a close connection between latent variables and targets. The whole proposed method is named Self Labeling CVAE~(SLCVAE). To accelerate the research of diverse text generation, we also propose a large native one-to-many dataset. Extensive experiments are conducted on two tasks, which show that our method largely improves the generating diversity while achieving comparable accuracy compared with state-of-art algorithms.Comment: Accepted as a conference paper in ICASSP 2019. But this copy is an extended version of the submitted manuscript. With more theoretical analysis and human evaluatio

When Autonomous Systems Meet Accuracy and Transferability through AI: A Survey

With widespread applications of artificial intelligence (AI), the capabilities of the perception, understanding, decision-making and control for autonomous systems have improved significantly in the past years. When autonomous systems consider the performance of accuracy and transferability, several AI methods, like adversarial learning, reinforcement learning (RL) and meta-learning, show their powerful performance. Here, we review the learning-based approaches in autonomous systems from the perspectives of accuracy and transferability. Accuracy means that a well-trained model shows good results during the testing phase, in which the testing set shares a same task or a data distribution with the training set. Transferability means that when a well-trained model is transferred to other testing domains, the accuracy is still good. Firstly, we introduce some basic concepts of transfer learning and then present some preliminaries of adversarial learning, RL and meta-learning. Secondly, we focus on reviewing the accuracy or transferability or both of them to show the advantages of adversarial learning, like generative adversarial networks (GANs), in typical computer vision tasks in autonomous systems, including image style transfer, image superresolution, image deblurring/dehazing/rain removal, semantic segmentation, depth estimation, pedestrian detection and person re-identification (re-ID). Then, we further review the performance of RL and meta-learning from the aspects of accuracy or transferability or both of them in autonomous systems, involving pedestrian tracking, robot navigation and robotic manipulation. Finally, we discuss several challenges and future topics for using adversarial learning, RL and meta-learning in autonomous systems

A Comprehensive Survey of Deep Learning for Image Captioning

Generating a description of an image is called image captioning. Image captioning requires to recognize the important objects, their attributes and their relationships in an image. It also needs to generate syntactically and semantically correct sentences. Deep learning-based techniques are capable of handling the complexities and challenges of image captioning. In this survey paper, we aim to present a comprehensive review of existing deep learning-based image captioning techniques. We discuss the foundation of the techniques to analyze their performances, strengths and limitations. We also discuss the datasets and the evaluation metrics popularly used in deep learning based automatic image captioning.Comment: 36 Pages, Accepted as a Journal Paper in ACM Computing Surveys (October 2018

An Empirical Investigation of Global and Local Normalization for Recurrent Neural Sequence Models Using a Continuous Relaxation to Beam Search

Globally normalized neural sequence models are considered superior to their locally normalized equivalents because they may ameliorate the effects of label bias. However, when considering high-capacity neural parametrizations that condition on the whole input sequence, both model classes are theoretically equivalent in terms of the distributions they are capable of representing. Thus, the practical advantage of global normalization in the context of modern neural methods remains unclear. In this paper, we attempt to shed light on this problem through an empirical study. We extend an approach for search-aware training via a continuous relaxation of beam search (Goyal et al., 2017b) in order to enable training of globally normalized recurrent sequence models through simple backpropagation. We then use this technique to conduct an empirical study of the interaction between global normalization, high-capacity encoders, and search-aware optimization. We observe that in the context of inexact search, globally normalized neural models are still more effective than their locally normalized counterparts. Further, since our training approach is sensitive to warm-starting with pre-trained models, we also propose a novel initialization strategy based on self-normalization for pre-training globally normalized models. We perform analysis of our approach on two tasks: CCG supertagging and Machine Translation, and demonstrate the importance of global normalization under different conditions while using search-aware training.Comment: Long paper at NAACL 201

Self-Supervised Flow Estimation using Geometric Regularization with Applications to Camera Image and Grid Map Sequences

We present a self-supervised approach to estimate flow in camera image and top-view grid map sequences using fully convolutional neural networks in the domain of automated driving. We extend existing approaches for self-supervised optical flow estimation by adding a regularizer expressing motion consistency assuming a static environment. However, as this assumption is violated for other moving traffic participants we also estimate a mask to scale this regularization. Adding a regularization towards motion consistency improves convergence and flow estimation accuracy. Furthermore, we scale the errors due to spatial flow inconsistency by a mask that we derive from the motion mask. This improves accuracy in regions where the flow drastically changes due to a better separation between static and dynamic environment. We apply our approach to optical flow estimation from camera image sequences, validate on odometry estimation and suggest a method to iteratively increase optical flow estimation accuracy using the generated motion masks. Finally, we provide quantitative and qualitative results based on the KITTI odometry and tracking benchmark for scene flow estimation based on grid map sequences. We show that we can improve accuracy and convergence when applying motion and spatial consistency regularization.Comment: 6 pages, 5 figure

Neural Allocentric Intuitive Physics Prediction from Real Videos

Humans are able to make rich predictions about the future dynamics of physical objects from a glance. On the other hand, most existing computer vision approaches require strong assumptions about the underlying system, ad-hoc modeling, or annotated datasets, to carry out even simple predictions. To tackle this gap, we propose a new perspective on the problem of learning intuitive physics that is inspired by the spatial memory representation of objects and spaces in human brains, in particular the co-existence of egocentric and allocentric spatial representations. We present a generic framework that learns a layered representation of the physical world, using a cascade of invertible modules. In this framework, real images are first converted to a synthetic domain representation that reduces complexity arising from lighting and texture. Then, an allocentric viewpoint transformer removes viewpoint complexity by projecting images to a canonical view. Finally, a novel Recurrent Latent Variation Network (RLVN) architecture learns the dynamics of the objects interacting with the environment and predicts future motion, leveraging the availability of unlimited synthetic simulations. Predicted frames are then projected back to the original camera view and translated back to the real world domain. Experimental results show the ability of the framework to consistently and accurately predict several frames in the future and the ability to adapt to real images.Comment: Added references, minor changes. arXiv admin note: text overlap with arXiv:1506.02025 by other author

Action Representations in Robotics: A Taxonomy and Systematic Classification

Understanding and defining the meaning of "action" is substantial for robotics research. This becomes utterly evident when aiming at equipping autonomous robots with robust manipulation skills for action execution. Unfortunately, to this day we still lack both a clear understanding of the concept of an action and a set of established criteria that ultimately characterize an action. In this survey we thus first review existing ideas and theories on the notion and meaning of action. Subsequently we discuss the role of action in robotics and attempt to give a seminal definition of action in accordance with its use in robotics research. Given this definition we then introduce a taxonomy for categorizing action representations in robotics along various dimensions. Finally, we provide a systematic literature survey on action representations in robotics where we categorize relevant literature along our taxonomy. After discussing the current state of the art we conclude with an outlook towards promising research directions.Comment: 36 pages, 4 figures, 7 tables, submitted to the International Journal of Robotics Research (IJRR