A General Formula for the Mismatch Capacity

The fundamental limits of channels with mismatched decoding are addressed. A general formula is established for the mismatch capacity of a general channel, defined as a sequence of conditional distributions with a general decoding metrics sequence. We deduce an identity between the Verd\'{u}-Han general channel capacity formula, and the mismatch capacity formula applied to Maximum Likelihood decoding metric. Further, several upper bounds on the capacity are provided, and a simpler expression for a lower bound is derived for the case of a non-negative decoding metric. The general formula is specialized to the case of finite input and output alphabet channels with a type-dependent metric. The closely related problem of threshold mismatched decoding is also studied, and a general expression for the threshold mismatch capacity is obtained. As an example of threshold mismatch capacity, we state a general expression for the erasures-only capacity of the finite input and output alphabet channel. We observe that for every channel there exists a (matched) threshold decoder which is capacity achieving. Additionally, necessary and sufficient conditions are stated for a channel to have a strong converse. Csisz\'{a}r and Narayan's conjecture is proved for bounded metrics, providing a positive answer to the open problem introduced in [1], i.e., that the "product-space" improvement of the lower random coding bound, $C_q^{(\infty)}(W)$, is indeed the mismatch capacity of the discrete memoryless channel $W$. We conclude by presenting an identity between the threshold capacity and $C_q^{(\infty)}(W)$ in the DMC case

Real-Time Grasp Detection Using Convolutional Neural Networks

We present an accurate, real-time approach to robotic grasp detection based on convolutional neural networks. Our network performs single-stage regression to graspable bounding boxes without using standard sliding window or region proposal techniques. The model outperforms state-of-the-art approaches by 14 percentage points and runs at 13 frames per second on a GPU. Our network can simultaneously perform classification so that in a single step it recognizes the object and finds a good grasp rectangle. A modification to this model predicts multiple grasps per object by using a locally constrained prediction mechanism. The locally constrained model performs significantly better, especially on objects that can be grasped in a variety of ways.Comment: Accepted to ICRA 201

Geometry-Based Next Frame Prediction from Monocular Video

We consider the problem of next frame prediction from video input. A recurrent convolutional neural network is trained to predict depth from monocular video input, which, along with the current video image and the camera trajectory, can then be used to compute the next frame. Unlike prior next-frame prediction approaches, we take advantage of the scene geometry and use the predicted depth for generating the next frame prediction. Our approach can produce rich next frame predictions which include depth information attached to each pixel. Another novel aspect of our approach is that it predicts depth from a sequence of images (e.g. in a video), rather than from a single still image. We evaluate the proposed approach on the KITTI dataset, a standard dataset for benchmarking tasks relevant to autonomous driving. The proposed method produces results which are visually and numerically superior to existing methods that directly predict the next frame. We show that the accuracy of depth prediction improves as more prior frames are considered.Comment: To appear in 2017 IEEE Intelligent Vehicles Symposiu