Object detection is essential to many perception algorithms used in modern robotics applications. Unfortunately, the existing models share a tendency to assign high confidence scores for out-of-distribution (OOD) samples. Although OOD detection has been extensively studied in recent years by the computer vision (CV) community, most proposed solutions apply only to the image recognition task. Real-world applications such as perception in autonomous vehicles struggle with far more complex challenges than classification. In our work, we focus on the prevalent field of object detection, introducing Neuron Activation PaTteRns for out-of-distribution samples detection in Object detectioN (NAPTRON). Performed experiments show that our approach outperforms state-of-the-art methods, without the need to affect in-distribution (ID) performance. By evaluating the methods in two distinct OOD scenarios and three types of object detectors we have created the largest open-source benchmark for OOD object detection.
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Post-hoc explainability methods aim to clarify predictions of black-box machine learning models. However, it is still largely unclear how well users comprehend the provided explanations and whether these increase the users ability to predict the model behavior. We approach this question by conducting a user study to evaluate comprehensibility and predictability in two widely used tools: LIME and SHAP. Moreover, we investigate the effect of counterfactual explanations and misclassifications on users ability to understand and predict the model behavior. We find that the comprehensibility of SHAP is significantly reduced when explanations are provided for samples near a model's decision boundary. Furthermore, we find that counterfactual explanations and misclassifications can significantly increase the users understanding of how a machine learning model is making decisions. Based on our findings, we also derive design recommendations for future post-hoc explainability methods with increased comprehensibility and predictability.
It is well-known that parallel manipulators are prone to singularities. However, there is still a lack of distance evaluation functions, referred to as metrics, for computing the distance between two 3-RPR configurations. The proposed extrinsic metrics take the combinatorial structure of the manipulator into account as well as different design options. Utilizing these extrinsic metrics, we formulate constrained optimization problems. These problems are aimed at identifying the closest singular configurations for a given non-singular configuration. The solution to the associated system of polynomial equations relies on algorithms from numerical algebraic geometry implemented in the software package \texttt{Bertini}. Furthermore, we have developed a computational pipeline for determining the distance to singularity during a one-parametric motion of the manipulator. To facilitate these computations for the user, an open-source interface is developed between software packages \texttt{Maple}, \texttt{Bertini}, and \texttt{Paramotopy}. The effectiveness of the presented approach is demonstrated based on numerical examples and compared with existing indices evaluating the singularity closeness.
Accurate deformable object manipulation (DOM) is essential for achieving autonomy in robotic surgery, where soft tissues are being displaced, stretched, and dissected. Many DOM methods can be powered by simulation, which ensures realistic deformation by adhering to the governing physical constraints and allowing for model prediction and control. However, real soft objects in robotic surgery, such as membranes and soft tissues, have complex, anisotropic physical parameters that a simulation with simple initialization from cameras may not fully capture. To use the simulation techniques in real surgical tasks, the "real-to-sim" gap needs to be properly compensated. In this work, we propose an online, adaptive parameter tuning approach for simulation optimization that (1) bridges the real-to-sim gap between a physics simulation and observations obtained 3D perceptions through estimating a residual mapping and (2) optimizes its stiffness parameters online. Our method ensures a small residual gap between the simulation and observation and improves the simulation's predictive capabilities. The effectiveness of the proposed mechanism is evaluated in the manipulation of both a thin-shell and volumetric tissue, representative of most tissue scenarios. This work contributes to the advancement of simulation-based deformable tissue manipulation and holds potential for improving surgical autonomy.
Model transparency, label correlation learning and the robust-ness to label noise are crucial for multilabel learning. However, few existing methods study these three characteristics simultaneously. To address this challenge, we propose the robust multilabel Takagi-Sugeno-Kang fuzzy system (R-MLTSK-FS) with three mechanisms. First, we design a soft label learning mechanism to reduce the effect of label noise by explicitly measuring the interactions between labels, which is also the basis of the other two mechanisms. Second, the rule-based TSK FS is used as the base model to efficiently model the inference relationship be-tween features and soft labels in a more transparent way than many existing multilabel models. Third, to further improve the performance of multilabel learning, we build a correlation enhancement learning mechanism based on the soft label space and the fuzzy feature space. Extensive experiments are conducted to demonstrate the superiority of the proposed method.
LiDAR-based semantic scene understanding is an important module in the modern autonomous driving perception stack. However, identifying Out-Of-Distribution (OOD) points in a LiDAR point cloud is challenging as point clouds lack semantically rich features when compared with RGB images. We revisit this problem from the perspective of selective classification, which introduces a selective function into the standard closed-set classification setup. Our solution is built upon the basic idea of abstaining from choosing any known categories but learns a point-wise abstaining penalty with a marginbased loss. Synthesizing outliers to approximate unlimited OOD samples is also critical to this idea, so we propose a strong synthesis pipeline that generates outliers originated from various factors: unrealistic object categories, sampling patterns and sizes. We demonstrate that learning different abstaining penalties, apart from point-wise penalty, for different types of (synthesized) outliers can further improve the performance. We benchmark our method on SemanticKITTI and nuScenes and achieve state-of-the-art results. Risk-coverage analysis further reveals intrinsic properties of different methods. Codes and models will be publicly available.
This letter describes an incremental multimodal surface mapping methodology, which represents the environment as a continuous probabilistic model. This model enables high-resolution reconstruction while simultaneously compressing spatial and intensity point cloud data. The strategy employed in this work utilizes Gaussian mixture models (GMMs) to represent the environment. While prior GMM-based mapping works have developed methodologies to determine the number of mixture components using information-theoretic techniques, these approaches either operate on individual sensor observations, making them unsuitable for incremental mapping, or are not real-time viable, especially for applications where high-fidelity modeling is required. To bridge this gap, this letter introduces a spatial hash map for rapid GMM submap extraction combined with an approach to determine relevant and redundant data in a point cloud. These contributions increase computational speed by an order of magnitude compared to state-of-the-art incremental GMM-based mapping. In addition, the proposed approach yields a superior tradeoff in map accuracy and size when compared to state-of-the-art mapping methodologies (both GMM- and not GMM-based). Evaluations are conducted using both simulated and real-world data. The software is released open-source to benefit the robotics community.
Split learning (SL) is a new collaborative learning technique that allows participants, e.g. a client and a server, to train machine learning models without the client sharing raw data. In this setting, the client initially applies its part of the machine learning model on the raw data to generate activation maps and then sends them to the server to continue the training process. Previous works in the field demonstrated that reconstructing activation maps could result in privacy leakage of client data. In addition to that, existing mitigation techniques that overcome the privacy leakage of SL prove to be significantly worse in terms of accuracy. In this paper, we improve upon previous works by constructing a protocol based on U-shaped SL that can operate on homomorphically encrypted data. More precisely, in our approach, the client applies homomorphic encryption on the activation maps before sending them to the server, thus protecting user privacy. This is an important improvement that reduces privacy leakage in comparison to other SL-based works. Finally, our results show that, with the optimum set of parameters, training with HE data in the U-shaped SL setting only reduces accuracy by 2.65% compared to training on plaintext. In addition, raw training data privacy is preserved.
Causal Theories and Structural Data Representations for Improving Out-of-Distribution Classification
We consider how human-centered causal theories and tools from the dynamical systems literature can be deployed to guide the representation of data when training neural networks for complex classification tasks. Specifically, we use simulated data to show that training a neural network with a data representation that makes explicit the invariant structural causal features of the data generating process of an epidemic system improves out-of-distribution (OOD) generalization performance on a classification task as compared to a more naive approach to data representation. We take these results to demonstrate that using human-generated causal knowledge to reduce the epistemic uncertainty of ML developers can lead to more well-specified ML pipelines. This, in turn, points to the utility of a dynamical systems approach to the broader effort aimed at improving the robustness and safety of machine learning systems via improved ML system development practices.
Self-supervised learning, dubbed the dark matter of intelligence, is a promising path to advance machine learning. Yet, much like cooking, training SSL methods is a delicate art with a high barrier to entry. While many components are familiar, successfully training a SSL method involves a dizzying set of choices from the pretext tasks to training hyper-parameters. Our goal is to lower the barrier to entry into SSL research by laying the foundations and latest SSL recipes in the style of a cookbook. We hope to empower the curious researcher to navigate the terrain of methods, understand the role of the various knobs, and gain the know-how required to explore how delicious SSL can be.
Relation prediction for knowledge graphs aims at predicting missing relationships between entities. Despite the importance of inductive relation prediction, most previous works are limited to a transductive setting and cannot process previously unseen entities. The recent proposed subgraph-based relation reasoning models provided alternatives to predict links from the subgraph structure surrounding a candidate triplet inductively. However, we observe that these methods often neglect the directed nature of the extracted subgraph and weaken the role of relation information in the subgraph modeling. As a result, they fail to effectively handle the asymmetric/anti-symmetric triplets and produce insufficient embeddings for the target triplets. To this end, we introduce a \textbf{C}\textbf{o}mmunicative \textbf{M}essage \textbf{P}assing neural network for \textbf{I}nductive re\textbf{L}ation r\textbf{E}asoning, \textbf{CoMPILE}, that reasons over local directed subgraph structures and has a vigorous inductive bias to process entity-independent semantic relations. In contrast to existing models, CoMPILE strengthens the message interactions between edges and entitles through a communicative kernel and enables a sufficient flow of relation information. Moreover, we demonstrate that CoMPILE can naturally handle asymmetric/anti-symmetric relations without the need for explosively increasing the number of model parameters by extracting the directed enclosing subgraphs. Extensive experiments show substantial performance gains in comparison to state-of-the-art methods on commonly used benchmark datasets with variant inductive settings.
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