Unsupervised domain adaptation for robust sensory systems

Despite significant advances in the performance of sensory inference models, their poor robustness to changing environmental conditions and hardware remains a major hurdle for widespread adoption. In this paper, we introduce the concept of unsupervised domain adaptation which is a technique to adapt sensory inference models to new domains only using unlabeled data from the target domain. We present two case-studies to motivate the problem and highlight some of our recent work in this space. Finally, we discuss the core challenges in this space that can trigger further ubicomp research on this topic

Seven properties of self-organization in the human brain

The principle of self-organization has acquired a fundamental significance in the newly emerging field of computational philosophy. Self-organizing systems have been described in various domains in science and philosophy including physics, neuroscience, biology and medicine, ecology, and sociology. While system architecture and their general purpose may depend on domain-specific concepts and definitions, there are (at least) seven key properties of self-organization clearly identified in brain systems: 1) modular connectivity, 2) unsupervised learning, 3) adaptive ability, 4) functional resiliency, 5) functional plasticity, 6) from-local-to-global functional organization, and 7) dynamic system growth. These are defined here in the light of insight from neurobiology, cognitive neuroscience and Adaptive Resonance Theory (ART), and physics to show that self-organization achieves stability and functional plasticity while minimizing structural system complexity. A specific example informed by empirical research is discussed to illustrate how modularity, adaptive learning, and dynamic network growth enable stable yet plastic somatosensory representation for human grip force control. Implications for the design of “strong” artificial intelligence in robotics are brought forward

Context-awareness for mobile sensing: a survey and future directions

The evolution of smartphones together with increasing computational power have empowered developers to create innovative context-aware applications for recognizing user related social and cognitive activities in any situation and at any location. The existence and awareness of the context provides the capability of being conscious of physical environments or situations around mobile device users. This allows network services to respond proactively and intelligently based on such awareness. The key idea behind context-aware applications is to encourage users to collect, analyze and share local sensory knowledge in the purpose for a large scale community use by creating a smart network. The desired network is capable of making autonomous logical decisions to actuate environmental objects, and also assist individuals. However, many open challenges remain, which are mostly arisen due to the middleware services provided in mobile devices have limited resources in terms of power, memory and bandwidth. Thus, it becomes critically important to study how the drawbacks can be elaborated and resolved, and at the same time better understand the opportunities for the research community to contribute to the context-awareness. To this end, this paper surveys the literature over the period of 1991-2014 from the emerging concepts to applications of context-awareness in mobile platforms by providing up-to-date research and future research directions. Moreover, it points out the challenges faced in this regard and enlighten them by proposing possible solutions

Neural Mechanisms for Information Compression by Multiple Alignment, Unification and Search

This article describes how an abstract framework for perception and cognition may be realised in terms of neural mechanisms and neural processing. This framework — called information compression by multiple alignment, unification and search (ICMAUS) — has been developed in previous research as a generalized model of any system for processing information, either natural or artificial. It has a range of applications including the analysis and production of natural language, unsupervised inductive learning, recognition of objects and patterns, probabilistic reasoning, and others. The proposals in this article may be seen as an extension and development of Hebb’s (1949) concept of a ‘cell assembly’. The article describes how the concept of ‘pattern’ in the ICMAUS framework may be mapped onto a version of the cell assembly concept and the way in which neural mechanisms may achieve the effect of ‘multiple alignment’ in the ICMAUS framework. By contrast with the Hebbian concept of a cell assembly, it is proposed here that any one neuron can belong in one assembly and only one assembly. A key feature of present proposals, which is not part of the Hebbian concept, is that any cell assembly may contain ‘references’ or ‘codes’ that serve to identify one or more other cell assemblies. This mechanism allows information to be stored in a compressed form, it provides a robust mechanism by which assemblies may be connected to form hierarchies and other kinds of structure, it means that assemblies can express abstract concepts, and it provides solutions to some of the other problems associated with cell assemblies. Drawing on insights derived from the ICMAUS framework, the article also describes how learning may be achieved with neural mechanisms. This concept of learning is significantly different from the Hebbian concept and appears to provide a better account of what we know about human learning

Self-Supervised Relative Depth Learning for Urban Scene Understanding

As an agent moves through the world, the apparent motion of scene elements is (usually) inversely proportional to their depth. It is natural for a learning agent to associate image patterns with the magnitude of their displacement over time: as the agent moves, faraway mountains don't move much; nearby trees move a lot. This natural relationship between the appearance of objects and their motion is a rich source of information about the world. In this work, we start by training a deep network, using fully automatic supervision, to predict relative scene depth from single images. The relative depth training images are automatically derived from simple videos of cars moving through a scene, using recent motion segmentation techniques, and no human-provided labels. This proxy task of predicting relative depth from a single image induces features in the network that result in large improvements in a set of downstream tasks including semantic segmentation, joint road segmentation and car detection, and monocular (absolute) depth estimation, over a network trained from scratch. The improvement on the semantic segmentation task is greater than those produced by any other automatically supervised methods. Moreover, for monocular depth estimation, our unsupervised pre-training method even outperforms supervised pre-training with ImageNet. In addition, we demonstrate benefits from learning to predict (unsupervised) relative depth in the specific videos associated with various downstream tasks. We adapt to the specific scenes in those tasks in an unsupervised manner to improve performance. In summary, for semantic segmentation, we present state-of-the-art results among methods that do not use supervised pre-training, and we even exceed the performance of supervised ImageNet pre-trained models for monocular depth estimation, achieving results that are comparable with state-of-the-art methods