STM maps improve terrain perception for autonomous robots.
problem Perception of terrain for autonomous robots in general environments.
method Stochastic triangular mesh (STM) technique for 2.5-D surface mapping.
result STM maps are more accurate than standard elevation maps.
Improved real-time UAV terrain following with RVM-RLS filter.
problem Accurate real-time waypoints estimation under measurement noise in nonlinear, time-varying systems.
method Residual Variance Matching Recursive Least Squares (RVM-RLS) filter guided by RVME criterion.
result Improved waypoints estimation accuracy by approximately 88% compared to benchmarks.
Robots learn to navigate rough terrain using reinforcement learning.
problem Generalizing robot behavior to new, unseen rough terrains.
method PPMC RL Training Algorithm
result Robots achieve 100% success rate in learning new rough terrain maps.
Procedural terrain generation for video games has been traditionally been done with smartly designed but handcrafted algorithms that generate heightmaps. We propose a first step toward the learning and synthesis of these using recent advances in deep generative modelling with openly available satellite imagery from NAS…
Deep learning extracts terrain texture covariates for geostatistical modeling.
problem Improving prediction accuracy in geostatistical modeling using terrain texture data.
method Deep learning approach to automatically derive optimal terrain texture covariates from SRTM 90m DEM.
result Deep learning-derived covariates have strong explanatory power (R-squared around 0.6) for geochemical data.
Continuous state spaces and stochastic, switching dynamics characterize a number of rich, realworld domains, such as robot navigation across varying terrain. We describe a reinforcementlearning algorithm for learning in these domains and prove for certain environments the algorithm is probably approximately correct wit…
Quantum SVM improves financial data classification.
problem Classifying financial data using quantum machine learning.
method Application of quantum kernels to financial data, specifically DSEx Broad Index.
result Empirical quantum advantage demonstrated for financial data classification.
Mathematical problems of digital terrain analysis include interpolation of digital elevation models (DEMs), DEM generalization and denoising, and computation of morphometric variables by calculation of partial derivatives of elevation. Traditionally, these procedures are based on numerical treatments of two-variable di…
New algorithm speeds up online mapping of unknown terrains.
problem Increasing computational demands of GP mapping as area expands.
method Recursive GP mapping using local basis functions in an information filter.
result Reduces overall computational complexity and speeds up mapping.
Manually authoring transition animations for a complete locomotion system can be a tedious and time-consuming task, especially for large games that allow complex and constrained locomotion movements, where the number of transitions grows exponentially with the number of states. In this paper, we present a novel approac…
The study applies spatial density models to mobile node movements using Möbius distributions.
problem Modeling the steady-state density of mobile nodes on a 2D terrain.
method Used mixture density networks with Möbius distributions to describe node density over a disk.
result Möbius distributions are more suitable for capturing radial changes in node density compared to Gaussian distributions.
Existing model-based reinforcement learning methods often study perception modeling and decision making separately. We introduce joint Perception and Control as Inference (PCI), a general framework to combine perception and control for partially observable environments through Bayesian inference. Based on the fact that…
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 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.
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.
Space exploration missions have seen use of increasingly sophisticated robotic systems with ever more autonomy. Deep learning promises to take this even a step further, and has applications for high-level tasks, like path planning, as well as low-level tasks, like motion control, which are critical components for missi…
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.
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.
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.
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.
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.
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.
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.
Although reinforcement learning methods can achieve impressive results in simulation, the real world presents two major challenges: generating samples is exceedingly expensive, and unexpected perturbations or unseen situations cause proficient but specialized policies to fail at test time. Given that it is impractical …
PERCEPT detects changes in high-dimensional data streams using topological data analysis.
problem Detecting changes in high-dimensional data streams, especially when embedded in a low-dimensional space.
method Leverages topological data analysis to learn embedded topology as a point cloud via persistence diagrams, then applies non-parametric monitoring for detecting changes.
result Demonstrates efficient detection of online changes from high-dimensional data streams.
Sensorimotor contingency theory offers a promising account of the nature of perception, a topic rarely addressed in the robotics community. We propose a developmental framework to address the problem of the autonomous acquisition of sensorimotor contingencies by a naive robot. While exploring the world, the robot inter…
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 …
Default-ERM shortcut learning persists even without additional information.
problem Default-ERM shortcut learning in perception tasks despite stable feature sufficiency.
method Studied linear perception task; developed margin control (MARG-CTRL) loss functions.
result Margin control mitigates shortcut learning on various tasks.
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.
The study improves deep learning models for safer autonomous vehicles.
problem Robustness of deep neural network models in autonomous driving.
method Analyzes and proposes solutions for deep learning model robustness.
result Enhanced deep learning models for safer autonomous vehicles.
Robots' agility in changing terrain helps financial models adapt to market shifts.
problem Challenges in financial market forecasting due to regime switching.
method Adapts pretrained LLMs using intrinsic market rewards and reinforcement learning.
result Significantly improved accuracy in adapting to market regime shifts.
Motivated by vision-based control of autonomous vehicles, we consider the problem of controlling a known linear dynamical system for which partial state information, such as vehicle position, is extracted from complex and nonlinear data, such as a camera image. Our approach is to use a learned perception map that predi…
A robot learns to classify images with limited perception using a layered reinforcement learning approach.
problem Image classification for robots with partial perception.
method Three-layer architecture using deep reinforcement learning, including meta-layer, action-layer, and classification-layer.
result The method achieves high accuracy on the MNIST dataset and provides explainability of the agent's decision-making process.
New RBM method for missing data inference, comparing performance to existing methods.
problem Missing data inference and perception-distortion trade-off.
method Linearization of RBM effective energy function for missing data.
result Proposed method outperforms existing reconstruction procedures in missing data inference.
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%).
An algorithm detects anomalies based on human perception principles.
problem Anomaly detection in data.
method Inspired by Gestalt psychology and Helmholtz principle, the algorithm models anomalies as unexpected elements in random distributions.
result The algorithm efficiently detects anomalies with minimal user intervention and promising results on multivariate data.
New coding theorem shows achievable rate matches theoretical limit.
problem Unknown existence of encoders and decoders for RDPF.
method Used stochastic, variable-length codes to prove RDPF achievable.
result Achievable rate matches theoretical rate-distortion-perception function.
Method transfers feature representation from large to small models using perception coherence.
problem Transfer feature representation from large to small models.
method Defines perception coherence, proposes loss function to minimize.
result Method outperforms or achieves on-par performance compared to strong baseline methods.
Bayesian models explain human time perception biases.
problem Understanding human time perception using Bayesian inference.
method Agent-based machine learning models and empirical data analysis.
result Bayesian models can replicate human time estimation biases.
In Autonomous Vehicles (AVs), one fundamental pillar is perception, which leverages sensors like cameras and LiDARs (Light Detection and Ranging) to understand the driving environment. Due to its direct impact on road safety, multiple prior efforts have been made to study its the security of perception systems. In cont…
We inspect a possible clustering structure of the corruption perception among 134 countries. Using the average linkage clustering, we uncover a well-defined hierarchy in the relationships among countries. Four main clusters are identified and they suggest that countries worldwide can be quite well separated according t…
Studies across many disciplines have shown that lexical choice can affect audience perception. For example, how users describe themselves in a social media profile can affect their perceived socio-economic status. However, we lack general methods for estimating the causal effect of lexical choice on the perception of a…
Intertemporal decision making involves choices among options whose effects occur at different moments. These choices are influenced not only by the effect of rewards value perception at different moments, but also by the time perception effect. One of the main difficulties that affect standard experiments involving int…
We discuss memory models which are based on tensor decompositions using latent representations of entities and events. We show how episodic memory and semantic memory can be realized and discuss how new memory traces can be generated from sensory input: Existing memories are the basis for perception and new memories ar…
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.
Developmental Robotics offers a new approach to numerous AI features that are often taken as granted. Traditionally, perception is supposed to be an inherent capacity of the agent. Moreover, it largely relies on models built by the system's designer. A new approach is to consider perception as an experimentally acquire…
We describe the concept of logical scaffolds, which can be used to improve the quality of software that relies on AI components. We explain how some of the existing ideas on runtime monitors for perception systems can be seen as a specific instance of logical scaffolds. Furthermore, we describe how logical scaffolds ma…
A wearable EEG headband detects primary colors from brain activity for color perception.
problem Detecting primary colors from brain activity for color perception.
method Spectral power features, statistical features, and correlation features from continuous Morlet wavelet transform; dimensionality reduction techniques like Forward Feature Selection and Stacked Autoencoders; Random Forest Classifier.
result Best overall accuracy of 80.6% for intra-subject classification.