When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a robotic system needs to interact with a dynamic environment or moving target. However, this kind of vision system is known to have low data transmission rates, packet loss during communication and noisy measurements as major disadvantages. These problems can perturb the control performance and the quality of the robot-environment interaction. To improve the quality of visual information, in this paper, we propose to model the dynamics of the motion of a target object and use this model to implement an Extended Kalman Filter based on Intermittent Observations of the vision system. The effectiveness of the proposed approach was tested through experiments with a robotic arm, a camera device in an eye-to-hand configuration, and an oscillating suspended block as a target to follow.
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The rise in additive manufacturing comes with unique opportunities and challenges. Rapid changes to part design and massive part customization distinctive to 3D-Print (3DP) can be easily achieved. Customized parts that are unique, yet exhibit similar features such as dental moulds, shoe insoles, or engine vanes could be industrially manufactured with 3DP. However, the opportunity for massive part customization comes with unique challenges for the existing production paradigm of robotics applications, as the current robotics paradigm for part identification and pose refinement is repetitive, where data-driven and object-dependent approaches are often used. Thus, a bottleneck exists in robotics applications for 3DP parts where massive customization is involved, as it is difficult for feature-based deep learning approaches to distinguish between similar parts such as shoe insoles belonging to different people. As such, we propose a method that augments patterns on 3DP parts so that grasping, part identification, and pose refinement can be executed in one shot with a tactile gripper. We also experimentally evaluate our approach from three perspectives, including real insertion tasks that mimic robotic sorting and packing, and achieved excellent classification results, a high insertion success rate of 95%, and a sub-millimeter pose refinement accuracy.
Neural Radiance Fields (NeRF) have recently emerged as a powerful method for image-based 3D reconstruction, but the lengthy per-scene optimization limits their practical usage, especially in resource-constrained settings. Existing approaches solve this issue by reducing the number of input views and regularizing the learned volumetric representation with either complex losses or additional inputs from other modalities. In this paper, we present KeyNeRF, a simple yet effective method for training NeRF in few-shot scenarios by focusing on key informative rays. Such rays are first selected at camera level by a view selection algorithm that promotes baseline diversity while guaranteeing scene coverage, then at pixel level by sampling from a probability distribution based on local image entropy. Our approach performs favorably against state-of-the-art methods, while requiring minimal changes to existing NeRF codebases.
Approximate Computing (AxC) techniques have become increasingly popular in trading off accuracy for performance gains in various applications. Selecting the best AxC techniques for a given application is challenging. Among proposed approaches for exploring the design space, Machine Learning approaches such as Reinforcement Learning (RL) show promising results. In this paper, we proposed an RL-based multi-objective Design Space Exploration strategy to find the approximate versions of the application that balance accuracy degradation and power and computation time reduction. Our experimental results show a good trade-off between accuracy degradation and decreased power and computation time for some benchmarks.
In many real-world problems, there is a limited set of training data, but an abundance of unlabeled data. We propose a new method, Generative Posterior Networks (GPNs), that uses unlabeled data to estimate epistemic uncertainty in high-dimensional problems. A GPN is a generative model that, given a prior distribution over functions, approximates the posterior distribution directly by regularizing the network towards samples from the prior. We prove theoretically that our method indeed approximates the Bayesian posterior and show empirically that it improves epistemic uncertainty estimation and scalability over competing methods.
Generalized Category Discovery is a crucial real-world task. Despite the improved performance on known categories, current methods perform poorly on novel categories. We attribute the poor performance to two reasons: biased knowledge transfer between labeled and unlabeled data and noisy representation learning on the unlabeled data. To mitigate these two issues, we propose a Transfer and Alignment Network (TAN), which incorporates two knowledge transfer mechanisms to calibrate the biased knowledge and two feature alignment mechanisms to learn discriminative features. Specifically, we model different categories with prototypes and transfer the prototypes in labeled data to correct model bias towards known categories. On the one hand, we pull instances with known categories in unlabeled data closer to these prototypes to form more compact clusters and avoid boundary overlap between known and novel categories. On the other hand, we use these prototypes to calibrate noisy prototypes estimated from unlabeled data based on category similarities, which allows for more accurate estimation of prototypes for novel categories that can be used as reliable learning targets later. After knowledge transfer, we further propose two feature alignment mechanisms to acquire both instance- and category-level knowledge from unlabeled data by aligning instance features with both augmented features and the calibrated prototypes, which can boost model performance on both known and novel categories with less noise. Experiments on three benchmark datasets show that our model outperforms SOTA methods, especially on novel categories. Theoretical analysis is provided for an in-depth understanding of our model in general. Our code and data are available at //github.com/Lackel/TAN.
Knowledge Graph Embedding (KGE) aims to learn representations for entities and relations. Most KGE models have gained great success, especially on extrapolation scenarios. Specifically, given an unseen triple (h, r, t), a trained model can still correctly predict t from (h, r, ?), or h from (?, r, t), such extrapolation ability is impressive. However, most existing KGE works focus on the design of delicate triple modeling function, which mainly tells us how to measure the plausibility of observed triples, but offers limited explanation of why the methods can extrapolate to unseen data, and what are the important factors to help KGE extrapolate. Therefore in this work, we attempt to study the KGE extrapolation of two problems: 1. How does KGE extrapolate to unseen data? 2. How to design the KGE model with better extrapolation ability? For the problem 1, we first discuss the impact factors for extrapolation and from relation, entity and triple level respectively, propose three Semantic Evidences (SEs), which can be observed from train set and provide important semantic information for extrapolation. Then we verify the effectiveness of SEs through extensive experiments on several typical KGE methods. For the problem 2, to make better use of the three levels of SE, we propose a novel GNN-based KGE model, called Semantic Evidence aware Graph Neural Network (SE-GNN). In SE-GNN, each level of SE is modeled explicitly by the corresponding neighbor pattern, and merged sufficiently by the multi-layer aggregation, which contributes to obtaining more extrapolative knowledge representation. Finally, through extensive experiments on FB15k-237 and WN18RR datasets, we show that SE-GNN achieves state-of-the-art performance on Knowledge Graph Completion task and performs a better extrapolation ability.
Australia is a leading AI nation with strong allies and partnerships. Australia has prioritised robotics, AI, and autonomous systems to develop sovereign capability for the military. Australia commits to Article 36 reviews of all new means and methods of warfare to ensure weapons and weapons systems are operated within acceptable systems of control. Additionally, Australia has undergone significant reviews of the risks of AI to human rights and within intelligence organisations and has committed to producing ethics guidelines and frameworks in Security and Defence. Australia is committed to OECD's values-based principles for the responsible stewardship of trustworthy AI as well as adopting a set of National AI ethics principles. While Australia has not adopted an AI governance framework specifically for Defence; Defence Science has published 'A Method for Ethical AI in Defence' (MEAID) technical report which includes a framework and pragmatic tools for managing ethical and legal risks for military applications of AI.
Deployment of Internet of Things (IoT) devices and Data Fusion techniques have gained popularity in public and government domains. This usually requires capturing and consolidating data from multiple sources. As datasets do not necessarily originate from identical sensors, fused data typically results in a complex data problem. Because military is investigating how heterogeneous IoT devices can aid processes and tasks, we investigate a multi-sensor approach. Moreover, we propose a signal to image encoding approach to transform information (signal) to integrate (fuse) data from IoT wearable devices to an image which is invertible and easier to visualize supporting decision making. Furthermore, we investigate the challenge of enabling an intelligent identification and detection operation and demonstrate the feasibility of the proposed Deep Learning and Anomaly Detection models that can support future application that utilizes hand gesture data from wearable devices.
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 propose a novel single shot object detection network named Detection with Enriched Semantics (DES). Our motivation is to enrich the semantics of object detection features within a typical deep detector, by a semantic segmentation branch and a global activation module. The segmentation branch is supervised by weak segmentation ground-truth, i.e., no extra annotation is required. In conjunction with that, we employ a global activation module which learns relationship between channels and object classes in a self-supervised manner. Comprehensive experimental results on both PASCAL VOC and MS COCO detection datasets demonstrate the effectiveness of the proposed method. In particular, with a VGG16 based DES, we achieve an mAP of 81.7 on VOC2007 test and an mAP of 32.8 on COCO test-dev with an inference speed of 31.5 milliseconds per image on a Titan Xp GPU. With a lower resolution version, we achieve an mAP of 79.7 on VOC2007 with an inference speed of 13.0 milliseconds per image.
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