相关论文: An Information Theoretic Approach to Sample Acquis…

We present a probabilistic approach to generate a small, query-able summary of a dataset for interactive data exploration. Departing from traditional summarization techniques, we use the Principle of Maximum Entropy to generate a…

Irregularly sampled time series data arise naturally in many application domains including biology, ecology, climate science, astronomy, and health. Such data represent fundamental challenges to many classical models from machine learning…

General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency, predictability, and reuse between tasks. Tactile sensing…

Over the last two decades we have witnessed strong progress on modeling visual object classes, scenes and attributes that have significantly contributed to automated image understanding. On the other hand, surprisingly little progress has…

Document retrieval is one of the best established information retrieval activities since the sixties, pervading all search engines. Its aim is to obtain, from a collection of text documents, those most relevant to a pattern query. Current…

Plants are dynamic organisms and understanding temporal variations in vegetation is an essential problem for robots in the wild. However, associating repeated 3D scans of plants across time is challenging. A key step in this process is…

The current state-of-the-art hand gesture recognition methodologies heavily rely in the use of machine learning. However there are scenarios that machine learning cannot be applied successfully, for example in situations where data is…

With ever-increasing dataset sizes, subset selection techniques are becoming increasingly important for a plethora of tasks. It is often necessary to guide the subset selection to achieve certain desiderata, which includes focusing or…

Tactile exploration plays a crucial role in understanding object structures for fundamental robotics tasks such as grasping and manipulation. However, efficiently exploring such objects using tactile sensors is challenging, primarily due to…

This paper introduces a probabilistic framework to estimate parameters of an acquisition function given observed human behavior that can be modeled as a collection of sample paths from a Bayesian optimization procedure. The methodology…

Template 3D shapes are useful for many tasks in graphics and vision, including fitting observation data, analyzing shape collections, and transferring shape attributes. Because of the variety of geometry and topology of real-world shapes,…

I describe a framework for adaptive scientific exploration based on iterating an Observation--Inference--Design cycle that allows adjustment of hypotheses and observing protocols in response to the results of observation on-the-fly, as data…

Hierarchies allow feature sharing between objects at multiple levels of representation, can code exponential variability in a very compact way and enable fast inference. This makes them potentially suitable for learning and recognizing a…

Haptic exploration is a key skill for both robots and humans to discriminate and handle unknown objects or to recognize familiar objects. Its active nature is evident in humans who from early on reliably acquire sophisticated sensory-motor…

Shape inference is classically ill-posed, because it involves a map from the (2D) image domain to the (3D) world. Standard approaches regularize this problem by either assuming a prior on lighting and rendering or restricting the domain,…

Pushing is a motion primitive useful to handle objects that are too large, too heavy, or too cluttered to be grasped. It is at the core of much of robotic manipulation, in particular when physical interaction is involved. It seems…

In a wide variety of fields, analysis of images involves defining a region and measuring its inherent properties. Such measurements include a region's surface area, curvature, volume, average gray and/or color scale, and so on. Furthermore,…

We introduce GEOTACT, the first robotic system capable of grasping and retrieving objects of potentially unknown shapes buried in a granular environment. While important in many applications, ranging from mining and exploration to search…

Shape informs how an object should be grasped, both in terms of where and how. As such, this paper describes a segmentation-based architecture for decomposing objects sensed with a depth camera into multiple primitive shapes, along with a…

Importance sampling is a rare event simulation technique used in Monte Carlo simulations to bias the sampling distribution towards the rare event of interest. By assigning appropriate weights to sampled points, importance sampling allows…