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Deploying service robots in our daily life, whether in restaurants, warehouses or hospitals, calls for the need to reason on the interactions happening in dense and dynamic scenes. In this paper, we present and benchmark three new approaches to model and predict multi-agent interactions in dense scenes, including the use of an intuitive qualitative representation. The proposed solutions take into account static and dynamic context to predict individual interactions. They exploit an input- and a temporal-attention mechanism, and are tested on medium and long-term time horizons. The first two approaches integrate different relations from the so-called Qualitative Trajectory Calculus (QTC) within a state-of-the-art deep neural network to create a symbol-driven neural architecture for predicting spatial interactions. The third approach implements a purely data-driven network for motion prediction, the output of which is post-processed to predict QTC spatial interactions. Experimental results on a popular robot dataset of challenging crowded scenarios show that the purely data-driven prediction approach generally outperforms the other two. The three approaches were further evaluated on a different but related human scenarios to assess their generalisation capability.

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IFIP TC13 Conference on Human-Computer Interaction是人機交互領域的研究者和實踐者展示其工作的重要平臺。多年來,這些會議吸引了來自幾個國家和文化的研究人員。官網鏈接: · 掩碼 · Google Glass · 傳感器 · Performer ·
2023 年 8 月 24 日

PPE (Personal Protective Equipment) has allowed firefighters to perform their everyday tasks without getting harmed since the mid 1800s. Now, the advancement of technology has given rise to the improvements of PPE. PPE can now include sensors to detect any number of environmental hazards (chemical, biological, temperature etc.). As the GT class of CS3750, we have decided to create a version of an interface design sensor that will help firefighters in two ways: navigation and communication. In order to augment a firefighter display when they are within a building, we chose to augment their SCBA (self-contained breathing apparatus). The gas mask will include a small screen that displays vital information directly towards the firefighter without need of any other support. We used the Google Glass to display vital information directly towards the eye in a minimalistic manner, while also augmenting that by adding LED lights to simulate someone calling their name or other auditory signals.While our prototype focuses on two main components of a firefighters search and rescue in a building, both of them combine to augment a firefighters display when searching throughout a building to help improve accuracy, speed and overall experience.

With the meteoric rise of video-on-demand (VOD) platforms, users face the challenge of sifting through an expansive sea of content to uncover shows that closely match their preferences. To address this information overload dilemma, VOD services have increasingly incorporated recommender systems powered by algorithms that analyze user behavior and suggest personalized content. However, a majority of existing recommender systems depend on explicit user feedback in the form of ratings and reviews, which can be difficult and time-consuming to collect at scale. This presents a key research gap, as leveraging users' implicit feedback patterns could provide an alternative avenue for building effective video recommendation models, circumventing the need for explicit ratings. However, prior literature lacks sufficient exploration into implicit feedback-based recommender systems, especially in the context of modeling video viewing behavior. Therefore, this paper aims to bridge this research gap by proposing a novel video recommendation technique that relies solely on users' implicit feedback in the form of their content viewing percentages.

Diffusion Probabilistic Models (DPMs) have demonstrated substantial promise in image generation tasks but heavily rely on the availability of large amounts of training data. Previous works, like GANs, have tackled the limited data problem by transferring pre-trained models learned with sufficient data. However, those methods are hard to be utilized in DPMs since the distinct differences between DPM-based and GAN-based methods, showing in the unique iterative denoising process integral and the need for many timesteps with no-targeted noise in DPMs. In this paper, we propose a novel DPMs-based transfer learning method, TAN, to address the limited data problem. It includes two strategies: similarity-guided training, which boosts transfer with a classifier, and adversarial noise selection which adaptive chooses targeted noise based on the input image. Extensive experiments in the context of few-shot image generation tasks demonstrate that our method is not only efficient but also excels in terms of image quality and diversity when compared to existing GAN-based and DDPM-based methods.

The concept of causality plays an important role in human cognition . In the past few decades, causal inference has been well developed in many fields, such as computer science, medicine, economics, and education. With the advancement of deep learning techniques, it has been increasingly used in causal inference against counterfactual data. Typically, deep causal models map the characteristics of covariates to a representation space and then design various objective optimization functions to estimate counterfactual data unbiasedly based on the different optimization methods. This paper focuses on the survey of the deep causal models, and its core contributions are as follows: 1) we provide relevant metrics under multiple treatments and continuous-dose treatment; 2) we incorporate a comprehensive overview of deep causal models from both temporal development and method classification perspectives; 3) we assist a detailed and comprehensive classification and analysis of relevant datasets and source code.

When is heterogeneity in the composition of an autonomous robotic team beneficial and when is it detrimental? We investigate and answer this question in the context of a minimally viable model that examines the role of heterogeneous speeds in perimeter defense problems, where defenders share a total allocated speed budget. We consider two distinct problem settings and develop strategies based on dynamic programming and on local interaction rules. We present a theoretical analysis of both approaches and our results are extensively validated using simulations. Interestingly, our results demonstrate that the viability of heterogeneous teams depends on the amount of information available to the defenders. Moreover, our results suggest a universality property: across a wide range of problem parameters the optimal ratio of the speeds of the defenders remains nearly constant.

We consider the problem of explaining the predictions of graph neural networks (GNNs), which otherwise are considered as black boxes. Existing methods invariably focus on explaining the importance of graph nodes or edges but ignore the substructures of graphs, which are more intuitive and human-intelligible. In this work, we propose a novel method, known as SubgraphX, to explain GNNs by identifying important subgraphs. Given a trained GNN model and an input graph, our SubgraphX explains its predictions by efficiently exploring different subgraphs with Monte Carlo tree search. To make the tree search more effective, we propose to use Shapley values as a measure of subgraph importance, which can also capture the interactions among different subgraphs. To expedite computations, we propose efficient approximation schemes to compute Shapley values for graph data. Our work represents the first attempt to explain GNNs via identifying subgraphs explicitly and directly. Experimental results show that our SubgraphX achieves significantly improved explanations, while keeping computations at a reasonable level.

It has been shown that deep neural networks are prone to overfitting on biased training data. Towards addressing this issue, meta-learning employs a meta model for correcting the training bias. Despite the promising performances, super slow training is currently the bottleneck in the meta learning approaches. In this paper, we introduce a novel Faster Meta Update Strategy (FaMUS) to replace the most expensive step in the meta gradient computation with a faster layer-wise approximation. We empirically find that FaMUS yields not only a reasonably accurate but also a low-variance approximation of the meta gradient. We conduct extensive experiments to verify the proposed method on two tasks. We show our method is able to save two-thirds of the training time while still maintaining the comparable or achieving even better generalization performance. In particular, our method achieves the state-of-the-art performance on both synthetic and realistic noisy labels, and obtains promising performance on long-tailed recognition on standard benchmarks.

Seamlessly interacting with humans or robots is hard because these agents are non-stationary. They update their policy in response to the ego agent's behavior, and the ego agent must anticipate these changes to co-adapt. Inspired by humans, we recognize that robots do not need to explicitly model every low-level action another agent will make; instead, we can capture the latent strategy of other agents through high-level representations. We propose a reinforcement learning-based framework for learning latent representations of an agent's policy, where the ego agent identifies the relationship between its behavior and the other agent's future strategy. The ego agent then leverages these latent dynamics to influence the other agent, purposely guiding them towards policies suitable for co-adaptation. Across several simulated domains and a real-world air hockey game, our approach outperforms the alternatives and learns to influence the other agent.

Automatic KB completion for commonsense knowledge graphs (e.g., ATOMIC and ConceptNet) poses unique challenges compared to the much studied conventional knowledge bases (e.g., Freebase). Commonsense knowledge graphs use free-form text to represent nodes, resulting in orders of magnitude more nodes compared to conventional KBs (18x more nodes in ATOMIC compared to Freebase (FB15K-237)). Importantly, this implies significantly sparser graph structures - a major challenge for existing KB completion methods that assume densely connected graphs over a relatively smaller set of nodes. In this paper, we present novel KB completion models that can address these challenges by exploiting the structural and semantic context of nodes. Specifically, we investigate two key ideas: (1) learning from local graph structure, using graph convolutional networks and automatic graph densification and (2) transfer learning from pre-trained language models to knowledge graphs for enhanced contextual representation of knowledge. We describe our method to incorporate information from both these sources in a joint model and provide the first empirical results for KB completion on ATOMIC and evaluation with ranking metrics on ConceptNet. Our results demonstrate the effectiveness of language model representations in boosting link prediction performance and the advantages of learning from local graph structure (+1.5 points in MRR for ConceptNet) when training on subgraphs for computational efficiency. Further analysis on model predictions shines light on the types of commonsense knowledge that language models capture well.

We investigate the problem of automatically determining what type of shoe left an impression found at a crime scene. This recognition problem is made difficult by the variability in types of crime scene evidence (ranging from traces of dust or oil on hard surfaces to impressions made in soil) and the lack of comprehensive databases of shoe outsole tread patterns. We find that mid-level features extracted by pre-trained convolutional neural nets are surprisingly effective descriptors for this specialized domains. However, the choice of similarity measure for matching exemplars to a query image is essential to good performance. For matching multi-channel deep features, we propose the use of multi-channel normalized cross-correlation and analyze its effectiveness. Our proposed metric significantly improves performance in matching crime scene shoeprints to laboratory test impressions. We also show its effectiveness in other cross-domain image retrieval problems: matching facade images to segmentation labels and aerial photos to map images. Finally, we introduce a discriminatively trained variant and fine-tune our system through our proposed metric, obtaining state-of-the-art performance.

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