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A guiding robot aims to effectively bring people to and from specific places within environments that are possibly unknown to them. During this operation the robot should be able to detect and track the accompanied person, trying never to lose sight of her/him. A solution to minimize this event is to use an omnidirectional camera: its 360{\deg} Field of View (FoV) guarantees that any framed object cannot leave the FoV if not occluded or very far from the sensor. However, the acquired panoramic videos introduce new challenges in perception tasks such as people detection and tracking, including the large size of the images to be processed, the distortion effects introduced by the cylindrical projection and the periodic nature of panoramic images. In this paper, we propose a set of targeted methods that allow to effectively adapt to panoramic videos a standard people detection and tracking pipeline originally designed for perspective cameras. Our methods have been implemented and tested inside a deep learning-based people detection and tracking framework with a commercial 360{\deg} camera. Experiments performed on datasets specifically acquired for guiding robot applications and on a real service robot show the effectiveness of the proposed approach over other state-of-the-art systems. We release with this paper the acquired and annotated datasets and the open-source implementation of our method.

Background: Estimations of causal effects from observational data are subject to various sources of bias. One method of adjusting for the residual biases in the estimation of a treatment effect is through negative control outcomes, where the treatment does not affect the outcome. The empirical calibration procedure is a technique that uses negative controls to calibrate p-values. An extension of empirical calibration calibrates the coverage of the 95% confidence interval of a treatment effect estimate by using negative control outcomes as well as positive control outcomes (where treatment affects the outcome). Methods: The effect of empirical calibration of confidence intervals was analyzed using simulated datasets with known treatment effects. The simulations consisted of binary treatment and binary outcome, with biases resulting from unmeasured confounder, model misspecification, measurement error, and lack of positivity. The performance of the empirical calibration was evaluated by determining the change in the coverage of the confidence interval and the bias in the treatment effect estimate. Results: Empirical calibration increased coverage of the 95% confidence interval of the treatment effect estimate under most bias scenarios but was inconsistent in adjusting the bias in the treatment effect estimate. Empirical calibration of confidence intervals was most effective when adjusting for the unmeasured confounding bias. Suitable negative controls had a large impact on the adjustment made by empirical calibration, but small improvements in the coverage of the outcome of interest were also observable when using unsuitable negative controls.

From a model-building perspective, in this paper we propose a paradigm shift for fitting over-parameterized models. Philosophically, the mindset is to fit models to future observations rather than to the observed sample. Technically, choosing an imputation model for generating future observations, we fit over-parameterized models to future observations via optimizing an approximation to the desired expected loss-function based on its sample counterpart and an adaptive simplicity-preference function. This technique is discussed in detail to both creating bootstrap imputation and final estimation with bootstrap imputation. The method is illustrated with the many-normal-means problem, $n < p$ linear regression, and deep convolutional neural networks for image classification of MNIST digits. The numerical results demonstrate superior performance across these three different types of applications. For example, for the many-normal-means problem, our method uniformly dominates James-Stein and Efron's $g-$modeling, and for the MNIST image classification, it performs better than all existing methods and reaches arguably the best possible result. While this paper is largely expository because of the ambitious task of taking a look at over-parameterized models from the new perspective, fundamental theoretical properties are also investigated. We conclude the paper with a few remarks.

Vision-and-language tasks have increasingly drawn more attention as a means to evaluate human-like reasoning in machine learning models. A popular task in the field is visual question answering (VQA), which aims to answer questions about images. However, VQA models have been shown to exploit language bias by learning the statistical correlations between questions and answers without looking into the image content: e.g., questions about the color of a banana are answered with yellow, even if the banana in the image is green. If societal bias (e.g., sexism, racism, ableism, etc.) is present in the training data, this problem may be causing VQA models to learn harmful stereotypes. For this reason, we investigate gender and racial bias in five VQA datasets. In our analysis, we find that the distribution of answers is highly different between questions about women and men, as well as the existence of detrimental gender-stereotypical samples. Likewise, we identify that specific race-related attributes are underrepresented, whereas potentially discriminatory samples appear in the analyzed datasets. Our findings suggest that there are dangers associated to using VQA datasets without considering and dealing with the potentially harmful stereotypes. We conclude the paper by proposing solutions to alleviate the problem before, during, and after the dataset collection process.

Software architecture students, often, lack self-confidence in their ability to use their knowledge to design software architectures. This paper investigates the relations between undergraduate software architecture students' self-confidence and their course expectations, cognitive levels, preferred learning methods, and critical thinking. We developed a questionnaire with open-ended questions to assess the self-confidence levels and related factors, which was taken by one-hundred ten students in two semesters. The students answers were coded and analyzed afterward. We found that self-confidence is weakly associated with the students' critical thinking and independent from their cognitive levels, preferred learning methods, and expectations from the course. The results suggest that to improve the self-confidence of the students, the instructors should work on improving the students' critical thinking capabilities.

Modelling pedestrian behavior is crucial in the development and testing of autonomous vehicles. In this work, we present a hierarchical pedestrian behavior model that generates high-level decisions through the use of behavior trees, in order to produce maneuvers executed by a low-level motion planner using an adapted Social Force model. A full implementation of our work is integrated into GeoScenario Server, a scenario definition and execution engine, extending its vehicle simulation capabilities with pedestrian simulation. The extended environment allows simulating test scenarios involving both vehicles and pedestrians to assist in the scenario-based testing process of autonomous vehicles. The presented hierarchical model is evaluated on two real-world data sets collected at separate locations with different road structures. Our model is shown to replicate the real-world pedestrians' trajectories with a high degree of fidelity and a decision-making accuracy of 98% or better, given only high-level routing information for each pedestrian.

To date, most existing self-supervised learning methods are designed and optimized for image classification. These pre-trained models can be sub-optimal for dense prediction tasks due to the discrepancy between image-level prediction and pixel-level prediction. To fill this gap, we aim to design an effective, dense self-supervised learning method that directly works at the level of pixels (or local features) by taking into account the correspondence between local features. We present dense contrastive learning, which implements self-supervised learning by optimizing a pairwise contrastive (dis)similarity loss at the pixel level between two views of input images. Compared to the baseline method MoCo-v2, our method introduces negligible computation overhead (only <1% slower), but demonstrates consistently superior performance when transferring to downstream dense prediction tasks including object detection, semantic segmentation and instance segmentation; and outperforms the state-of-the-art methods by a large margin. Specifically, over the strong MoCo-v2 baseline, our method achieves significant improvements of 2.0% AP on PASCAL VOC object detection, 1.1% AP on COCO object detection, 0.9% AP on COCO instance segmentation, 3.0% mIoU on PASCAL VOC semantic segmentation and 1.8% mIoU on Cityscapes semantic segmentation. Code is available at: //git.io/AdelaiDet

The considerable significance of Anomaly Detection (AD) problem has recently drawn the attention of many researchers. Consequently, the number of proposed methods in this research field has been increased steadily. AD strongly correlates with the important computer vision and image processing tasks such as image/video anomaly, irregularity and sudden event detection. More recently, Deep Neural Networks (DNNs) offer a high performance set of solutions, but at the expense of a heavy computational cost. However, there is a noticeable gap between the previously proposed methods and an applicable real-word approach. Regarding the raised concerns about AD as an ongoing challenging problem, notably in images and videos, the time has come to argue over the pitfalls and prospects of methods have attempted to deal with visual AD tasks. Hereupon, in this survey we intend to conduct an in-depth investigation into the images/videos deep learning based AD methods. We also discuss current challenges and future research directions thoroughly.

We present a novel counterfactual framework for both Zero-Shot Learning (ZSL) and Open-Set Recognition (OSR), whose common challenge is generalizing to the unseen-classes by only training on the seen-classes. Our idea stems from the observation that the generated samples for unseen-classes are often out of the true distribution, which causes severe recognition rate imbalance between the seen-class (high) and unseen-class (low). We show that the key reason is that the generation is not Counterfactual Faithful, and thus we propose a faithful one, whose generation is from the sample-specific counterfactual question: What would the sample look like, if we set its class attribute to a certain class, while keeping its sample attribute unchanged? Thanks to the faithfulness, we can apply the Consistency Rule to perform unseen/seen binary classification, by asking: Would its counterfactual still look like itself? If ``yes'', the sample is from a certain class, and ``no'' otherwise. Through extensive experiments on ZSL and OSR, we demonstrate that our framework effectively mitigates the seen/unseen imbalance and hence significantly improves the overall performance. Note that this framework is orthogonal to existing methods, thus, it can serve as a new baseline to evaluate how ZSL/OSR models generalize. Codes are available at //github.com/yue-zhongqi/gcm-cf.

Visual Question Answering (VQA) models have struggled with counting objects in natural images so far. We identify a fundamental problem due to soft attention in these models as a cause. To circumvent this problem, we propose a neural network component that allows robust counting from object proposals. Experiments on a toy task show the effectiveness of this component and we obtain state-of-the-art accuracy on the number category of the VQA v2 dataset without negatively affecting other categories, even outperforming ensemble models with our single model. On a difficult balanced pair metric, the component gives a substantial improvement in counting over a strong baseline by 6.6%.