Accurate tracking of transparent objects, such as glasses, plays a critical role in many robotic tasks such as robot-assisted living. Due to the adaptive and often reflective texture of such objects, traditional tracking algorithms that rely on general-purpose learned features suffer from reduced performance. Recent research has proposed to instill transparency awareness into existing general object trackers by fusing purpose-built features. However, with the existing fusion techniques, the addition of new features causes a change in the latent space making it impossible to incorporate transparency awareness on trackers with fixed latent spaces. For example, many of the current days transformer-based trackers are fully pre-trained and are sensitive to any latent space perturbations. In this paper, we present a new feature fusion technique that integrates transparency information into a fixed feature space, enabling its use in a broader range of trackers. Our proposed fusion module, composed of a transformer encoder and an MLP module, leverages key query-based transformations to embed the transparency information into the tracking pipeline. We also present a new two-step training strategy for our fusion module to effectively merge transparency features. We propose a new tracker architecture that uses our fusion techniques to achieve superior results for transparent object tracking. Our proposed method achieves competitive results with state-of-the-art trackers on TOTB, which is the largest transparent object tracking benchmark recently released. Our results and the implementation of code will be made publicly available at //github.com/kalyan0510/TOTEM.
相關內容
標跟蹤是指：給出目標在跟蹤視頻第一幀中的初始狀態（如位置，尺寸），自動估計目標物體在后續幀中的狀態。
目標跟蹤分為單目標跟蹤和多目標跟蹤。
人眼可以比較輕松的在一段時間內跟住某個特定目標。但是對機器而言，這一任務并不簡單，尤其是跟蹤過程中會出現目標發生劇烈形變、被其他目標遮擋或出現相似物體干擾等等各種復雜的情況。過去幾十年以來，目標跟蹤的研究取得了長足的發展，尤其是各種機器學習算法被引入以來，目標跟蹤算法呈現百花齊放的態勢。2013年以來，深度學習方法開始在目標跟蹤領域展露頭腳，并逐漸在性能上超越傳統方法，取得巨大的突破。
Emotion recognition in text, the task of identifying emotions such as joy or anger, is a challenging problem in NLP with many applications. One of the challenges is the shortage of available datasets that have been annotated with emotions. Certain existing datasets are small, follow different emotion taxonomies and display imbalance in their emotion distribution. In this work, we studied the impact of data augmentation techniques precisely when applied to small imbalanced datasets, for which current state-of-the-art models (such as RoBERTa) under-perform. Specifically, we utilized four data augmentation methods (Easy Data Augmentation EDA, static and contextual Embedding-based, and ProtAugment) on three datasets that come from different sources and vary in size, emotion categories and distributions. Our experimental results show that using the augmented data when training the classifier model leads to significant improvements. Finally, we conducted two case studies: a) directly using the popular chat-GPT API to paraphrase text using different prompts, and b) using external data to augment the training set. Results show the promising potential of these methods.
We introduce the problem of ranking with slot constraints, which can be used to model a wide range of application problems -- from college admission with limited slots for different majors, to composing a stratified cohort of eligible participants in a medical trial. We show that the conventional Probability Ranking Principle (PRP) can be highly sub-optimal for slot-constrained ranking problems, and we devise a new ranking algorithm, called MatchRank. The goal of MatchRank is to produce rankings that maximize the number of filled slots if candidates are evaluated by a human decision maker in the order of the ranking. In this way, MatchRank generalizes the PRP, and it subsumes the PRP as a special case when there are no slot constraints. Our theoretical analysis shows that MatchRank has a strong approximation guarantee without any independence assumptions between slots or candidates. Furthermore, we show how MatchRank can be implemented efficiently. Beyond the theoretical guarantees, empirical evaluations show that MatchRank can provide substantial improvements over a range of synthetic and real-world tasks.
Many practically relevant robot grasping problems feature a target object for which all grasps are occluded, e.g., by the environment. Single-shot grasp planning invariably fails in such scenarios. Instead, it is necessary to first manipulate the object into a configuration that affords a grasp. We solve this problem by learning a sequence of actions that utilize the environment to change the object's pose. Concretely, we employ hierarchical reinforcement learning to combine a sequence of learned parameterized manipulation primitives. By learning the low-level manipulation policies, our approach can control the object's state through exploiting interactions between the object, the gripper, and the environment. Designing such a complex behavior analytically would be infeasible under uncontrolled conditions, as an analytic approach requires accurate physical modeling of the interaction and contact dynamics. In contrast, we learn a hierarchical policy model that operates directly on depth perception data, without the need for object detection, pose estimation, or manual design of controllers. We evaluate our approach on picking box-shaped objects of various weight, shape, and friction properties from a constrained table-top workspace. Our method transfers to a real robot and is able to successfully complete the object picking task in 98\% of experimental trials.
Neural additive models (NAMs) can improve the interpretability of deep neural networks by handling input features in separate additive sub-networks. However, they lack inherent mechanisms that provide calibrated uncertainties and enable selection of relevant features and interactions. Approaching NAMs from a Bayesian perspective, we enhance them in three primary ways, namely by a) providing credible intervals for the individual additive sub-networks; b) estimating the marginal likelihood to perform an implicit selection of features via an empirical Bayes procedure; and c) enabling a ranking of feature pairs as candidates for second-order interaction in fine-tuned models. In particular, we develop Laplace-approximated NAMs (LA-NAMs), which show improved empirical performance on tabular datasets and challenging real-world medical tasks.
In many scenarios, one uses a large training set to train a model with the goal of performing well on a smaller testing set with a different distribution. Learning a weight for each data point of the training set is an appealing solution, as it ideally allows one to automatically learn the importance of each training point for generalization on the testing set. This task is usually formalized as a bilevel optimization problem. Classical bilevel solvers are based on a warm-start strategy where both the parameters of the models and the data weights are learned at the same time. We show that this joint dynamic may lead to sub-optimal solutions, for which the final data weights are very sparse. This finding illustrates the difficulty of data reweighting and offers a clue as to why this method is rarely used in practice.
Quadrotors are widely used for surveillance, mapping, and deliveries. In several scenarios the quadrotor operates in pure inertial navigation mode resulting in a navigation solution drift. To handle such situations and bind the navigation drift, the quadrotor dead reckoning (QDR) approach requires flying the quadrotor in a periodic trajectory. Then, using model or learning based approaches the quadrotor position vector can be estimated. We propose to use multiple inertial measurement units (MIMU) to improve the positioning accuracy of the QDR approach. Several methods to utilize MIMU data in a deep learning framework are derived and evaluated. Field experiments were conducted to validate the proposed approach and show its benefits.
Deformable Object Manipulation (DOM) is an important field of research as it contributes to practical tasks such as automatic cloth handling, cable routing, surgical operation, etc. Perception is considered one of the major challenges in DOM due to the complex dynamics and high degree of freedom of deformable objects. In this paper, we develop a novel image-processing algorithm based on Gabor filters to extract useful features from cloth, and based on this, devise a strategy for cloth flattening tasks. We also evaluate the overall framework experimentally and compare it with three human operators. The results show that our algorithm can determine the direction of wrinkles on the cloth accurately in simulation as well as in real robot experiments. Furthermore, our dewrinkling strategy compares favorably to baseline methods. The experiment video is available on //sites.google.com/view/robotic-fabric-flattening/home
Matroid intersection is a classical optimization problem where, given two matroids over the same ground set, the goal is to find the largest common independent set. In this paper, we show that there exists a certain "sparsifer": a subset of elements, of size $O(|S^{opt}| \cdot 1/\varepsilon)$, where $S^{opt}$ denotes the optimal solution, that is guaranteed to contain a $3/2 + \varepsilon$ approximation, while guaranteeing certain robustness properties. We call such a small subset a Density Constrained Subset (DCS), which is inspired by the Edge-Degree Constrained Subgraph (EDCS) [Bernstein and Stein, 2015], originally designed for the maximum cardinality matching problem in a graph. Our proof is constructive and hinges on a greedy decomposition of matroids, which we call the density-based decomposition. We show that this sparsifier has certain robustness properties that can be used in one-way communication and random-order streaming models.
Video captioning is a challenging task that requires a deep understanding of visual scenes. State-of-the-art methods generate captions using either scene-level or object-level information but without explicitly modeling object interactions. Thus, they often fail to make visually grounded predictions, and are sensitive to spurious correlations. In this paper, we propose a novel spatio-temporal graph model for video captioning that exploits object interactions in space and time. Our model builds interpretable links and is able to provide explicit visual grounding. To avoid unstable performance caused by the variable number of objects, we further propose an object-aware knowledge distillation mechanism, in which local object information is used to regularize global scene features. We demonstrate the efficacy of our approach through extensive experiments on two benchmarks, showing our approach yields competitive performance with interpretable predictions.
We consider the task of weakly supervised one-shot detection. In this task, we attempt to perform a detection task over a set of unseen classes, when training only using weak binary labels that indicate the existence of a class instance in a given example. The model is conditioned on a single exemplar of an unseen class and a target example that may or may not contain an instance of the same class as the exemplar. A similarity map is computed by using a Siamese neural network to map the exemplar and regions of the target example to a latent representation space and then computing cosine similarity scores between representations. An attention mechanism weights different regions in the target example, and enables learning of the one-shot detection task using the weaker labels alone. The model can be applied to detection tasks from different domains, including computer vision object detection. We evaluate our attention Siamese networks on a one-shot detection task from the audio domain, where it detects audio keywords in spoken utterances. Our model considerably outperforms a baseline approach and yields a 42.6% average precision for detection across 10 unseen classes. Moreover, architectural developments from computer vision object detection models such as a region proposal network can be incorporated into the model architecture, and results show that performance is expected to improve by doing so.
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