PCI combines perception and control using Bayesian inference with object-based representations.
problem Separate perception and control in reinforcement learning.
method Joint Perception and Control as Inference (PCI) framework with Object-based Perception Control (OPC).
result OPC achieves good perceptual grouping quality and outperforms baselines in accumulated rewards.
Cooperative perception improves 3D object detection in autonomous vehicles.
problem Limited field-of-view and occlusion in single sensor data.
method Early fusion of point clouds from multiple sensors, late fusion of independently detected bounding boxes, and hybrid combination.
result Early fusion approach outperforms late fusion by significantly higher recall (95%) compared to single-point sensing (30%).
RETR improves indoor radar perception with a novel transformer model.
problem Indoor radar perception lacks models tailored for multi-view radar settings.
method RETR extends DETR architecture with depth-prioritized feature similarity, tri-plane loss, and radar-to-camera transformation.
result RETR outperforms state-of-the-art methods by 15.38+ AP for object detection and 11.91+ IoU for instance segmentation.
New approach categorizes objective functions for embodied agents.
problem Understanding how objectives relate to each other and discovering new objectives.
method Introducing Action Perception Divergence (APD) to categorize objective functions.
result Introduces a spectrum of objectives from narrow to general, explaining various unsupervised objectives.
PeL separates sensory interface optimization from decision learning.
problem Optimizing sensory interfaces without task-specific information.
method Formal separation of perception and decision learning, using metrics for stability, informativeness, and geometry.
result Updates preserving invariants are orthogonal to decision gradients.
We propose a framework for the completely unsupervised learning of latent object properties from their interactions: the perception-prediction network (PPN). Consisting of a perception module that extracts representations of latent object properties and a prediction module that uses those extracted properties to simula…
This study examines LiDAR spoofing attacks on autonomous vehicle perception.
problem Security vulnerabilities in LiDAR-based perception systems in autonomous driving.
method Formulated as an optimization problem, designed input perturbation and objective functions, combined optimization and global sampling.
result Attack success rates improved to around 75% through strategic input perturbation.
Robot learns sensorimotor relationships through exploration.
problem Autonomous acquisition of sensorimotor contingencies by robots.
method Developmental framework encoding predictive models of sensorimotor experience.
result Robot discovers the environment, objects, and visual field through internal encoding of sensorimotor contingencies.
Study how actions affect perception in embodied agents using group theory.
problem Understanding how actions influence perception in autonomous agents.
method Mathematical formalism of group theory applied to sensory commutativity of action sequences.
result Introduced Sensory Commutativity Probability (SCP) to measure action effects on perception.
GOL uses semi-parametric approach to learn from single examples in autonomous driving.
problem Training deep neural networks for autonomous driving requires manual annotation.
method Generative One-Shot Learning (GOL) framework that learns from single examples and regularization samples.
result Generative One-Shot Learning (GOL) generates synthetic data as Pareto optimal solutions.
Paper identifies invariant structures for object perception.
problem Understanding how agents perceive objects in dynamic environments.
method Sensorimotor Contingencies Theory inspired unsupervised predictive model.
result Agents can identify invariant structures in sensorimotor experiences.
While perception tasks such as visual object recognition and text understanding play an important role in human intelligence, the subsequent tasks that involve inference, reasoning and planning require an even higher level of intelligence. The past few years have seen major advances in many perception tasks using deep …
DGP learns speech recognition by modeling complex relationships between utterances.
problem Modeling complex relationships in speech recognition without relational data.
method Bayesian nonparametric deep learning method (DGP) that generates infinite probabilistic graphs.
result DGP successfully infers relationships among utterances without relational data during training.
In this paper, we propose an active perception method for recognizing object categories based on the multimodal hierarchical Dirichlet process (MHDP). The MHDP enables a robot to form object categories using multimodal information, e.g., visual, auditory, and haptic information, which can be observed by performing acti…
Tensor models decode human perception and memory using SPO triples.
problem Understanding implicit and explicit perception and memory in the brain.
method Tensor models with SPO triples, dual representations, and four layers.
result Semantic memory is crucial for explicit perception and declarative memories.
We address the problem of bootstrapping language acquisition for an artificial system similarly to what is observed in experiments with human infants. Our method works by associating meanings to words in manipulation tasks, as a robot interacts with objects and listens to verbal descriptions of the interactions. The mo…
Deep learning improves microscale object segmentation.
problem Accurate estimation of crowded microscale objects.
method Deep learning model for semantic segmentation.
result High mean Intersection Over Union score of 0.91.
End-to-end autonomous driving models are vulnerable to simple physical manipulations of images.
problem Vulnerability of end-to-end autonomous driving models to subtle adversarial manipulations of images.
method Developed novel end-to-end attacks using simple physical manipulations (painting black lines on the road) and used Bayesian Optimization to efficiently search for successful attacks.
result Simple physical manipulations can cause autonomous driving models to follow unintended paths, highlighting the vulnerability of these models.
Paper proposes method to evaluate AI in ranking tasks with individual differences.
problem Difficulty in evaluating AI in tasks where correct answers vary by individual.
method Probabilistic model of human ranking behavior and efficient computation method.
result Demonstrates AI ranking results can be distinguished from human-generated ones.
Humans take advantage of real world symmetries for various tasks, yet capturing their superb symmetry perception mechanism with a computational model remains elusive. Motivated by a new study demonstrating the extremely high inter-person accuracy of human perceived symmetries in the wild, we have constructed the first …
MIRO learns robust latent spaces by maximizing mutual information with future information.
problem Robust perception in complex, unstructured environments with low sample complexity.
method MIRO maximizes mutual information in a latent space for model-based reinforcement learning.
result MIRO outperforms reconstruction objectives in cluttered scenes.
OP3 models entities for better task generalization in reinforcement learning.
problem Generalizing to unseen physical tasks with combinatorial complexity.
method Object-centric perception, prediction, and planning (OP3) framework.
result OP3 outperforms oracle models and state-of-the-art video prediction models.
One of the key challenges of visual perception is to extract abstract models of 3D objects and object categories from visual measurements, which are affected by complex nuisance factors such as viewpoint, occlusion, motion, and deformations. Starting from the recent idea of viewpoint factorization, we propose a new app…
The paper offers a checklist for comparing human and machine visual perception.
problem Comparing human and machine visual perception.
method Designing, conducting, and interpreting experiments to investigate mechanisms.
result Feedback mechanisms may not be necessary for visual reasoning tasks.
Unified model for automated driving tasks improves efficiency and accuracy.
problem Efficiently handle multiple visual perception tasks in automated driving systems.
method Joint multi-task network design sharing convolutional layers, multi-stream learning, auxiliary learning.
result Unified model outperforms single-task models in many cases.
Y-GAN uses multi-camera data to estimate depth maps without expensive hardware.
problem Depth perception for autonomous systems requires accurate 3D spatial information.
method Proposes Y-GAN, a deep convolutional generative adversarial network.
result Y-GAN estimates depth maps from multi-camera stereo images without ground truth data.
A comprehensive artificial intelligence system needs to not only perceive the environment with different `senses' (e.g., seeing and hearing) but also infer the world's conditional (or even causal) relations and corresponding uncertainty. The past decade has seen major advances in many perception tasks such as visual ob…
Adversarial training can hurt robust accuracy in small sample size scenarios.
problem Adversarial training improves test accuracy but may degrade robustness in limited data settings.
method Analyzes high-dimensional linear classification with noiseless observations, and observes perceptible attacks on image datasets.
result Adversarial training can negatively impact robust generalization in small sample size regimes.
Study the tradeoff between signal distortion and human perception over finite channels.
problem Characterize the distortion-perception tradeoff for finite channels with arbitrary metrics.
method Solve linear programming problems to compute the distortion-perception function and optimal reconstructions.
result DP function is piecewise linear in the perception index.
A new method learns to segment and represent objects jointly without supervision.
problem Learning to segment and represent objects jointly without supervision.
method Iterative variational inference for disentangled object representations.
result System learns to inpaint occluded parts and extrapolates to unseen objects.
A framework isolates VQA reasoning from perception for better model evaluation.
problem Improper separation of visual perception and reasoning in VQA models.
method Introducing a framework and a top-down calibration technique to decouple reasoning from perception.
result Improved evaluation of VQA models by separating reasoning from perception.
The paper proposes a model to learn motion perception in V1 using vector and matrix representations.
problem Motion perception in primary visual cortex (V1).
method Coupling vector representations of local contents and matrix representations of local pixel displacements.
result The model can learn Gabor-like filter pairs and infer local motions.
A model learns object representations for physical scene understanding without direct supervision.
problem Learning object-centric representations without direct supervision of object properties.
method Object-Oriented Prediction and Planning (O2P2) model that learns perception, physics interaction, and rendering functions.
result The model can predict physical interactions and build block towers more complex than those seen during training.
End-to-end autonomous driving perception learns latent features for better performance.
problem Current autonomous driving systems are complex and require human engineering.
method Sequential latent representation learning for end-to-end perception.
result End-to-end perception model solves detection, tracking, localization, and mapping problems.
This research uses PointNets to detect 2D objects from radar data.
problem Detecting 2D objects from sparse radar data for automated driving.
method Adapting PointNets for radar data, performing 2D object classification and bounding box regression.
result Demonstrates the potential of PointNets for 2D object detection in radar data.
New security patch for object tracking in self-driving cars mitigates vulnerabilities.
problem Vulnerability of object tracking in self-driving cars, especially Kalman Filter-based trackers.
method Adaptive strategy to balance focus on observations and predictions based on deviation anomaly index.
result Certified effectiveness against a generalized hijacking attack model.
Geometric model explains music perception combining neuroscience and acoustics.
problem Rationalize and predict psycho-acoustic phenomena in music perception.
method Combining neuroscientific theories with acoustic observations, a geometric model of the space of all chords is created.
result The geometric model allows for rigorous studies of psychoacoustic quantities like roughness and harmonicity.
Safe control for vehicles using learned perception from images.
problem Controlling autonomous vehicles with partial state information from images.
method Learned perception map and safe set design for a closed loop system.
result Generalization properties of the perception-control loop are favorable.
Researchers study how teachers' advising relationships influence their perceptions of satisfaction and students, not policy influence.
problem Understanding the relationship between teachers' advising relationships and their perceptions of satisfaction and students.
method Proposed a novel joint model of network and item responses (JNIRM) with correlated latent variables.
result Teachers' advising relationships contribute more to satisfaction and students than to influence over educational policies.
Proposes new terms for neural image compression to improve quality and efficiency.
problem Improving the quality and efficiency of neural image compression.
method Introduces a compression objective and a cycle loss term, applied to autoencoder encoder outputs, combined with reconstruction losses.
result Different autoencoders trained with varying losses produce images with distinct perceptual qualities and image-domain distortions.
Reconstruction-based learning produces uninformative features for perception tasks.
problem Misalignment between reconstruction-based learning and perception tasks.
method Investigated the impact of input space reconstruction on feature learning for perception tasks.
result Reconstruction-based learning allocates model capacity to a subspace with uninformative features for perception tasks.
New CNN approach reduces overconfidence in object classification predictions.
problem Overconfident predictions from deep models, especially SoftMax layer.
method Introduces CNN probabilistic approach using Logit layer for Bayesian inference.
result Proposed approach shows promising performance compared to SoftMax.
Paper presents attacks on real-time object detection systems.
problem Adversarial attacks on real-time object detection systems.
method Three targeted adversarial Objectness Gradient attacks (TOG).
result Adversarial attacks can cause object-vanishing, object-fabrication, and object-mislabeling.
PHASE dataset simulates complex social interactions in physical environments.
problem Lack of datasets for evaluating physically grounded perception of complex social interactions.
method Created PHASE dataset of 2D animations with procedural generation and physics engine.
result SIMPLE model outperforms neural networks in recognizing complex social interactions.
Constellation learns group-level visual relationships for abstract reasoning.
problem Learning configurational properties of entire groups of objects.
method Introduces Constellation, a network that learns relational abstractions over static visual scenes.
result Offers a basis for abstract relational reasoning and sensory imagination.
Joint network for real-time object detection and semantic segmentation.
problem Real-time object detection and semantic segmentation for automated driving.
method Shared encoder for object detection and semantic segmentation, using YOLO v2 and FCN8 decoders.
result Joint network achieves the same accuracy as separate networks and 30 fps for 1280x384 resolution.
Study uses deep learning to predict gender and analyze HPV vaccine perceptions on Twitter.
problem Analyzing gender differences in public perceptions on HPV vaccine using social media data.
method Convolutional neural network model trained on Twitter text for gender prediction, then applied to HPV vaccine related tweets.
result Identified gender differences in public perceptions on HPV vaccine, consistent with previous studies.
The study estimates how changing words in sentences affects audience perception.
problem Estimating the causal effect of lexical choice on audience perception.
method Two classes of methods: quasi-experimental designs and classification problems.
result Algorithmic estimates align with randomized-control trials and can be transferred across domains.