Finite Dimensional Infinite Constellations

In the setting of a Gaussian channel without power constraints, proposed by Poltyrev, the codewords are points in an n-dimensional Euclidean space (an infinite constellation) and the tradeoff between their density and the error probability is considered. The capacity in this setting is the highest achievable normalized log density (NLD) with vanishing error probability. This capacity as well as error exponent bounds for this setting are known. In this work we consider the optimal performance achievable in the fixed blocklength (dimension) regime. We provide two new achievability bounds, and extend the validity of the sphere bound to finite dimensional infinite constellations. We also provide asymptotic analysis of the bounds: When the NLD is fixed, we provide asymptotic expansions for the bounds that are significantly tighter than the previously known error exponent results. When the error probability is fixed, we show that as n grows, the gap to capacity is inversely proportional (up to the first order) to the square-root of n where the proportion constant is given by the inverse Q-function of the allowed error probability, times the square root of 1/2. In an analogy to similar result in channel coding, the dispersion of infinite constellations is 1/2nat^2 per channel use. All our achievability results use lattices and therefore hold for the maximal error probability as well. Connections to the error exponent of the power constrained Gaussian channel and to the volume-to-noise ratio as a figure of merit are discussed. In addition, we demonstrate the tightness of the results numerically and compare to state-of-the-art coding schemes.Comment: 54 pages, 13 figures. Submitted to IEEE Transactions on Information Theor

Action Recognition by Hierarchical Mid-level Action Elements

Realistic videos of human actions exhibit rich spatiotemporal structures at multiple levels of granularity: an action can always be decomposed into multiple finer-grained elements in both space and time. To capture this intuition, we propose to represent videos by a hierarchy of mid-level action elements (MAEs), where each MAE corresponds to an action-related spatiotemporal segment in the video. We introduce an unsupervised method to generate this representation from videos. Our method is capable of distinguishing action-related segments from background segments and representing actions at multiple spatiotemporal resolutions. Given a set of spatiotemporal segments generated from the training data, we introduce a discriminative clustering algorithm that automatically discovers MAEs at multiple levels of granularity. We develop structured models that capture a rich set of spatial, temporal and hierarchical relations among the segments, where the action label and multiple levels of MAE labels are jointly inferred. The proposed model achieves state-of-the-art performance in multiple action recognition benchmarks. Moreover, we demonstrate the effectiveness of our model in real-world applications such as action recognition in large-scale untrimmed videos and action parsing

Semantic Cross-View Matching

Matching cross-view images is challenging because the appearance and viewpoints are significantly different. While low-level features based on gradient orientations or filter responses can drastically vary with such changes in viewpoint, semantic information of images however shows an invariant characteristic in this respect. Consequently, semantically labeled regions can be used for performing cross-view matching. In this paper, we therefore explore this idea and propose an automatic method for detecting and representing the semantic information of an RGB image with the goal of performing cross-view matching with a (non-RGB) geographic information system (GIS). A segmented image forms the input to our system with segments assigned to semantic concepts such as traffic signs, lakes, roads, foliage, etc. We design a descriptor to robustly capture both, the presence of semantic concepts and the spatial layout of those segments. Pairwise distances between the descriptors extracted from the GIS map and the query image are then used to generate a shortlist of the most promising locations with similar semantic concepts in a consistent spatial layout. An experimental evaluation with challenging query images and a large urban area shows promising results

PALMER: Perception-Action Loop with Memory for Long-Horizon Planning

To achieve autonomy in a priori unknown real-world scenarios, agents should be able to: i) act from high-dimensional sensory observations (e.g., images), ii) learn from past experience to adapt and improve, and iii) be capable of long horizon planning. Classical planning algorithms (e.g. PRM, RRT) are proficient at handling long-horizon planning. Deep learning based methods in turn can provide the necessary representations to address the others, by modeling statistical contingencies between observations. In this direction, we introduce a general-purpose planning algorithm called PALMER that combines classical sampling-based planning algorithms with learning-based perceptual representations. For training these perceptual representations, we combine Q-learning with contrastive representation learning to create a latent space where the distance between the embeddings of two states captures how easily an optimal policy can traverse between them. For planning with these perceptual representations, we re-purpose classical sampling-based planning algorithms to retrieve previously observed trajectory segments from a replay buffer and restitch them into approximately optimal paths that connect any given pair of start and goal states. This creates a tight feedback loop between representation learning, memory, reinforcement learning, and sampling-based planning. The end result is an experiential framework for long-horizon planning that is significantly more robust and sample efficient compared to existing methods.Comment: Website: https://palmer.epfl.c