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Image acquisition conditions and environments can significantly affect high-level tasks in computer vision, and the performance of most computer vision algorithms will be limited when trained on distortion-free datasets. Even with updates in hardware such as sensors and deep learning methods, it will still not work in the face of variable conditions in real-world applications. In this paper, we apply the object detector YOLOv7 to detect distorted images from the dataset CDCOCO. Through carefully designed optimizations including data enhancement, detection box ensemble, denoiser ensemble, super-resolution models, and transfer learning, our model achieves excellent performance on the CDCOCO test set. Our denoising detection model can denoise and repair distorted images, making the model useful in a variety of real-world scenarios and environments.

To support humans in their daily lives, robots are required to autonomously learn, adapt to objects and environments, and perform the appropriate actions. We tackled on the task of cooking scrambled eggs using real ingredients, in which the robot needs to perceive the states of the egg and adjust stirring movement in real time, while the egg is heated and the state changes continuously. In previous works, handling changing objects was found to be challenging because sensory information includes dynamical, both important or noisy information, and the modality which should be focused on changes every time, making it difficult to realize both perception and motion generation in real time. We propose a predictive recurrent neural network with an attention mechanism that can weigh the sensor input, distinguishing how important and reliable each modality is, that realize quick and efficient perception and motion generation. The model is trained with learning from the demonstration, and allows the robot to acquire human-like skills. We validated the proposed technique using the robot, Dry-AIREC, and with our learning model, it could perform cooking eggs with unknown ingredients. The robot could change the method of stirring and direction depending on the status of the egg, as in the beginning it stirs in the whole pot, then subsequently, after the egg started being heated, it starts flipping and splitting motion targeting specific areas, although we did not explicitly indicate them.

When researching robot swarms, many studies observe complex group behavior emerging from the individual agents' simple local actions. However, the task of learning an individual policy to produce a desired emergent behavior remains a challenging and largely unsolved problem. We present a method of training distributed robotic swarm algorithms to produce emergent behavior. Inspired by the biological evolution of emergent behavior in animals, we use an evolutionary algorithm to train a 'population' of individual behaviors to approximate a desired group behavior. We perform experiments using simulations of the Georgia Tech Miniature Autonomous Blimps (GT-MABs) aerial robotics platforms conducted in the CoppeliaSim simulator. Additionally, we test on simulations of Anki Vector robots to display our algorithm's effectiveness on various modes of actuation. We evaluate our algorithm on various tasks where a somewhat complex group behavior is required for success. These tasks include an Area Coverage task, a Surround Target task, and a Wall Climb task. We compare behaviors evolved using our algorithm against 'designed policies', which we create in order to exhibit the emergent behaviors we desire.

We employ deep reinforcement learning (RL) to train an agent to successfully translate a high-frequency trading signal into a trading strategy that places individual limit orders. Based on the ABIDES limit order book simulator, we build a reinforcement learning OpenAI gym environment and utilise it to simulate a realistic trading environment for NASDAQ equities based on historic order book messages. To train a trading agent that learns to maximise its trading return in this environment, we use Deep Duelling Double Q-learning with the APEX (asynchronous prioritised experience replay) architecture. The agent observes the current limit order book state, its recent history, and a short-term directional forecast. To investigate the performance of RL for adaptive trading independently from a concrete forecasting algorithm, we study the performance of our approach utilising synthetic alpha signals obtained by perturbing forward-looking returns with varying levels of noise. Here, we find that the RL agent learns an effective trading strategy for inventory management and order placing that outperforms a heuristic benchmark trading strategy having access to the same signal.

The deployment of autonomous vehicles (AVs) has faced hurdles due to the dominance of rare but critical corner cases within the long-tail distribution of driving scenarios, which negatively affects their overall performance. To address this challenge, adversarial generation methods have emerged as a class of efficient approaches to synthesize safety-critical scenarios for AV testing. However, these generated scenarios are often underutilized for AV training, resulting in the potential for continual AV policy improvement remaining untapped, along with a deficiency in the closed-loop design needed to achieve it. Therefore, we tailor the Stackelberg Driver Model (SDM) to accurately characterize the hierarchical nature of vehicle interaction dynamics, facilitating iterative improvement by engaging background vehicles (BVs) and AV in a sequential game-like interaction paradigm. With AV acting as the leader and BVs as followers, this leader-follower modeling ensures that AV would consistently refine its policy, always taking into account the additional information that BVs play the best response to challenge AV. Extensive experiments have shown that our algorithm exhibits superior performance compared to several baselines especially in higher dimensional scenarios, leading to substantial advancements in AV capabilities while continually generating progressively challenging scenarios.

Empowering robots to navigate in a socially compliant manner is essential for the acceptance of robots moving in human-inhabited environments. Previously, roboticists have developed classical navigation systems with decades of empirical validation to achieve safety and efficiency. However, the many complex factors of social compliance make classical navigation systems hard to adapt to social situations, where no amount of tuning enables them to be both safe (people are too unpredictable) and efficient (the frozen robot problem). With recent advances in deep learning approaches, the common reaction has been to entirely discard classical navigation systems and start from scratch, building a completely new learning-based social navigation planner. In this work, we find that this reaction is unnecessarily extreme: using a large-scale real-world social navigation dataset, SCAND, we find that classical systems can be used safely and efficiently in a large number of social situations (up to 80%). We therefore ask if we can rethink this problem by leveraging the advantages of both classical and learning-based approaches. We propose a hybrid strategy in which we learn to switch between a classical geometric planner and a data-driven method. Our experiments on both SCAND and two physical robots show that the hybrid planner can achieve better social compliance in terms of a variety of metrics, compared to using either the classical or learning-based approach alone.

In an efficient and flexible human-robot collaborative work environment, a robot team member must be able to recognize both explicit requests and implied actions from human users. Identifying "what to do" in such cases requires an agent to have the ability to construct associations between objects, their actions, and the effect of actions on the environment. In this regard, semantic memory is being introduced to understand the explicit cues and their relationships with available objects and required skills to make "tea" and "sandwich". We have extended our previous hierarchical robot control architecture to add the capability to execute the most appropriate task based on both feedback from the user and the environmental context. To validate this system, two types of skills were implemented in the hierarchical task tree: 1) Tea making skills and 2) Sandwich making skills. During the conversation between the robot and the human, the robot was able to determine the hidden context using ontology and began to act accordingly. For instance, if the person says "I am thirsty" or "It is cold outside" the robot will start to perform the tea-making skill. In contrast, if the person says, "I am hungry" or "I need something to eat", the robot will make the sandwich. A humanoid robot Baxter was used for this experiment. We tested three scenarios with objects at different positions on the table for each skill. We observed that in all cases, the robot used only objects that were relevant to the skill.

Human following is a crucial feature of human-robot interaction, yet it poses numerous challenges to mobile agents in real-world scenarios. Some major hurdles are that the target person may be in a crowd, obstructed by others, or facing away from the agent. To tackle these challenges, we present a novel person re-identification module composed of three parts: a 360-degree visual registration, a neural-based person re-identification using human faces and torsos, and a motion tracker that records and predicts the target person's future position. Our human-following system also addresses other challenges, including identifying fast-moving targets with low latency, searching for targets that move out of the camera's sight, collision avoidance, and adaptively choosing different following mechanisms based on the distance between the target person and the mobile agent. Extensive experiments show that our proposed person re-identification module significantly enhances the human-following feature compared to other baseline variants.

Inspired by the human cognitive system, attention is a mechanism that imitates the human cognitive awareness about specific information, amplifying critical details to focus more on the essential aspects of data. Deep learning has employed attention to boost performance for many applications. Interestingly, the same attention design can suit processing different data modalities and can easily be incorporated into large networks. Furthermore, multiple complementary attention mechanisms can be incorporated in one network. Hence, attention techniques have become extremely attractive. However, the literature lacks a comprehensive survey specific to attention techniques to guide researchers in employing attention in their deep models. Note that, besides being demanding in terms of training data and computational resources, transformers only cover a single category in self-attention out of the many categories available. We fill this gap and provide an in-depth survey of 50 attention techniques categorizing them by their most prominent features. We initiate our discussion by introducing the fundamental concepts behind the success of attention mechanism. Next, we furnish some essentials such as the strengths and limitations of each attention category, describe their fundamental building blocks, basic formulations with primary usage, and applications specifically for computer vision. We also discuss the challenges and open questions related to attention mechanism in general. Finally, we recommend possible future research directions for deep attention.

Detecting carried objects is one of the requirements for developing systems to reason about activities involving people and objects. We present an approach to detect carried objects from a single video frame with a novel method that incorporates features from multiple scales. Initially, a foreground mask in a video frame is segmented into multi-scale superpixels. Then the human-like regions in the segmented area are identified by matching a set of extracted features from superpixels against learned features in a codebook. A carried object probability map is generated using the complement of the matching probabilities of superpixels to human-like regions and background information. A group of superpixels with high carried object probability and strong edge support is then merged to obtain the shape of the carried object. We applied our method to two challenging datasets, and results show that our method is competitive with or better than the state-of-the-art.