Related papers: A real-time anomaly detection method for robots ba…
Simultaneous localization and mapping (SLAM) plays a vital role in mapping unknown spaces and aiding autonomous navigation. Virtually all state-of-the-art solutions today for 2D SLAM are designed for dense and accurate sensors such as laser…
Autoencoders are certainly among the most studied and used Deep Learning models: the idea behind them is to train a model in order to reconstruct the same input data. The peculiarity of these models is to compress the information through a…
Anomaly detection in Minimally-Invasive Surgery (MIS) traditionally requires a human expert monitoring the procedure from a console. Data scarcity, on the other hand, hinders what would be a desirable migration towards autonomous…
Traditional simultaneous localization and mapping (SLAM) methods focus on improvement in the robot's localization under environment and sensor uncertainty. This paper, however, focuses on mitigating the need for exact localization of a…
In our digital universe nowadays, enormous amount of data are produced in a streaming manner in a variety of application areas. These data are often unlabelled. In this case, identifying infrequent events, such as anomalies, poses a great…
This paper aims to develop an acoustic signal-based unsupervised anomaly detection method for automatic machine monitoring. Existing approaches such as deep autoencoder (DAE), variational autoencoder (VAE), conditional variational…
The ability to accurately model random fields plays a critical role in science and engineering for problems involving uncertain, spatially-varying quantities such as heterogeneous material properties and turbulent flows. Deep generative…
To develop a machine sound monitoring system, a method for detecting anomalous sound is proposed. Exact likelihood estimation using Normalizing Flows is a promising technique for unsupervised anomaly detection, but it can fail at…
Grasping by a robot in unstructured environments is deemed a critical challenge because of the requirement for effective adaptation to a wide variation in object geometries, material properties, and other environmental factors. In this…
Real-time interception of fast-moving objects by robotic arms in dynamic environments poses a formidable challenge due to the need for rapid reaction times, often within milliseconds, amidst dynamic obstacles. This paper introduces a…
Using a convGRU-based autoencoder, this thesis proposes a framework to learn spatial-temporal aspects of raw network traffic in an unsupervised and protocol-agnostic manner. The learned representations are used to measure the effect on the…
As a widely recognized approach to deep generative modeling, Variational Auto-Encoders (VAEs) still face challenges with the quality of generated images, often presenting noticeable blurriness. This issue stems from the unrealistic…
Autonomous mapping of unknown environments is a critical challenge, particularly in scenarios where time is limited. Multi-agent systems can enhance efficiency through collaboration, but the scalability of motion-planning algorithms remains…
In this paper, we propose an adaptive sieving (AS) strategy for solving general sparse machine learning models by effectively exploring the intrinsic sparsity of the solutions, wherein only a sequence of reduced problems with much smaller…
Sparse Autoencoders (SAEs) provide potentials for uncovering structured, human-interpretable representations in Large Language Models (LLMs), making them a crucial tool for transparent and controllable AI systems. We systematically analyze…
Unsupervised learning-based anomaly detection in latent space has gained importance since discriminating anomalies from normal data becomes difficult in high-dimensional space. Both density estimation and distance-based methods to detect…
The increasing demand for long-context modeling in large language models (LLMs) is bottlenecked by the quadratic complexity of the standard self-attention mechanism. The community has proposed sparse attention to mitigate this issue.…
Generative modeling of high-dimensional data is a key problem in machine learning. Successful approaches include latent variable models and autoregressive models. The complementary strengths of these approaches, to model global and local…
This paper introduces an unsupervised compact architecture that can extract features and classify the contents of dynamic scenes from the temporal output of a neuromorphic asynchronous event-based camera. Event-based cameras are clock-less…
Regularized autoencoders learn the latent codes, a structure with the regularization under the distribution, which enables them the capability to infer the latent codes given observations and generate new samples given the codes. However,…