53 research outputs found
Unsupervised Place Recognition with Deep Embedding Learning over Radar Videos
We learn, in an unsupervised way, an embedding from sequences of radar images
that is suitable for solving place recognition problem using complex radar
data. We experiment on 280 km of data and show performance exceeding
state-of-the-art supervised approaches, localising correctly 98.38% of the time
when using just the nearest database candidate.Comment: to be presented at the Workshop on Radar Perception for All-Weather
Autonomy at the IEEE International Conference on Robotics and Automation
(ICRA) 202
Prototypical Contrastive Learning of Unsupervised Representations
This paper presents Prototypical Contrastive Learning (PCL), an unsupervised
representation learning method that addresses the fundamental limitations of
instance-wise contrastive learning. PCL not only learns low-level features for
the task of instance discrimination, but more importantly, it implicitly
encodes semantic structures of the data into the learned embedding space.
Specifically, we introduce prototypes as latent variables to help find the
maximum-likelihood estimation of the network parameters in an
Expectation-Maximization framework. We iteratively perform E-step as finding
the distribution of prototypes via clustering and M-step as optimizing the
network via contrastive learning. We propose ProtoNCE loss, a generalized
version of the InfoNCE loss for contrastive learning, which encourages
representations to be closer to their assigned prototypes. PCL outperforms
state-of-the-art instance-wise contrastive learning methods on multiple
benchmarks with substantial improvement in low-resource transfer learning. Code
and pretrained models are available at https://github.com/salesforce/PCL
Disentangled Contrastive Learning for Learning Robust Textual Representations
Although the self-supervised pre-training of transformer models has resulted
in the revolutionizing of natural language processing (NLP) applications and
the achievement of state-of-the-art results with regard to various benchmarks,
this process is still vulnerable to small and imperceptible permutations
originating from legitimate inputs. Intuitively, the representations should be
similar in the feature space with subtle input permutations, while large
variations occur with different meanings. This motivates us to investigate the
learning of robust textual representation in a contrastive manner. However, it
is non-trivial to obtain opposing semantic instances for textual samples. In
this study, we propose a disentangled contrastive learning method that
separately optimizes the uniformity and alignment of representations without
negative sampling. Specifically, we introduce the concept of momentum
representation consistency to align features and leverage power normalization
while conforming the uniformity. Our experimental results for the NLP
benchmarks demonstrate that our approach can obtain better results compared
with the baselines, as well as achieve promising improvements with invariance
tests and adversarial attacks. The code is available in
https://github.com/zjunlp/DCL.Comment: Work in progres
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