25,071 research outputs found
Symbol Emergence in Robotics: A Survey
Humans can learn the use of language through physical interaction with their
environment and semiotic communication with other people. It is very important
to obtain a computational understanding of how humans can form a symbol system
and obtain semiotic skills through their autonomous mental development.
Recently, many studies have been conducted on the construction of robotic
systems and machine-learning methods that can learn the use of language through
embodied multimodal interaction with their environment and other systems.
Understanding human social interactions and developing a robot that can
smoothly communicate with human users in the long term, requires an
understanding of the dynamics of symbol systems and is crucially important. The
embodied cognition and social interaction of participants gradually change a
symbol system in a constructive manner. In this paper, we introduce a field of
research called symbol emergence in robotics (SER). SER is a constructive
approach towards an emergent symbol system. The emergent symbol system is
socially self-organized through both semiotic communications and physical
interactions with autonomous cognitive developmental agents, i.e., humans and
developmental robots. Specifically, we describe some state-of-art research
topics concerning SER, e.g., multimodal categorization, word discovery, and a
double articulation analysis, that enable a robot to obtain words and their
embodied meanings from raw sensory--motor information, including visual
information, haptic information, auditory information, and acoustic speech
signals, in a totally unsupervised manner. Finally, we suggest future
directions of research in SER.Comment: submitted to Advanced Robotic
Unsupervised Domain Adaptation for Multispectral Pedestrian Detection
Multimodal information (e.g., visible and thermal) can generate robust
pedestrian detections to facilitate around-the-clock computer vision
applications, such as autonomous driving and video surveillance. However, it
still remains a crucial challenge to train a reliable detector working well in
different multispectral pedestrian datasets without manual annotations. In this
paper, we propose a novel unsupervised domain adaptation framework for
multispectral pedestrian detection, by iteratively generating pseudo
annotations and updating the parameters of our designed multispectral
pedestrian detector on target domain. Pseudo annotations are generated using
the detector trained on source domain, and then updated by fixing the
parameters of detector and minimizing the cross entropy loss without
back-propagation. Training labels are generated using the pseudo annotations by
considering the characteristics of similarity and complementarity between
well-aligned visible and infrared image pairs. The parameters of detector are
updated using the generated labels by minimizing our defined multi-detection
loss function with back-propagation. The optimal parameters of detector can be
obtained after iteratively updating the pseudo annotations and parameters.
Experimental results show that our proposed unsupervised multimodal domain
adaptation method achieves significantly higher detection performance than the
approach without domain adaptation, and is competitive with the supervised
multispectral pedestrian detectors
Semi-Supervised Speech Emotion Recognition with Ladder Networks
Speech emotion recognition (SER) systems find applications in various fields
such as healthcare, education, and security and defense. A major drawback of
these systems is their lack of generalization across different conditions. This
problem can be solved by training models on large amounts of labeled data from
the target domain, which is expensive and time-consuming. Another approach is
to increase the generalization of the models. An effective way to achieve this
goal is by regularizing the models through multitask learning (MTL), where
auxiliary tasks are learned along with the primary task. These methods often
require the use of labeled data which is computationally expensive to collect
for emotion recognition (gender, speaker identity, age or other emotional
descriptors). This study proposes the use of ladder networks for emotion
recognition, which utilizes an unsupervised auxiliary task. The primary task is
a regression problem to predict emotional attributes. The auxiliary task is the
reconstruction of intermediate feature representations using a denoising
autoencoder. This auxiliary task does not require labels so it is possible to
train the framework in a semi-supervised fashion with abundant unlabeled data
from the target domain. This study shows that the proposed approach creates a
powerful framework for SER, achieving superior performance than fully
supervised single-task learning (STL) and MTL baselines. The approach is
implemented with several acoustic features, showing that ladder networks
generalize significantly better in cross-corpus settings. Compared to the STL
baselines, the proposed approach achieves relative gains in concordance
correlation coefficient (CCC) between 3.0% and 3.5% for within corpus
evaluations, and between 16.1% and 74.1% for cross corpus evaluations,
highlighting the power of the architecture
Multimodal Sparse Coding for Event Detection
Unsupervised feature learning methods have proven effective for
classification tasks based on a single modality. We present multimodal sparse
coding for learning feature representations shared across multiple modalities.
The shared representations are applied to multimedia event detection (MED) and
evaluated in comparison to unimodal counterparts, as well as other feature
learning methods such as GMM supervectors and sparse RBM. We report the
cross-validated classification accuracy and mean average precision of the MED
system trained on features learned from our unimodal and multimodal settings
for a subset of the TRECVID MED 2014 dataset.Comment: Multimodal Machine Learning Workshop at NIPS 201
- …