相关论文: Bayesian Spatial Kernel Smoothing for Scalable Den…

This paper presents a computational model of concept learning using Bayesian inference for a grammatically structured hypothesis space, and test the model on multisensory (visual and haptics) recognition of 3D objects. The study is…

Modern Bayesian optimization and adaptive sampling methods increasingly rely on nonlinear parametric models, yet theoretical guarantees for such models under adaptive data collection remain limited. Existing analyses largely focus on…

Despite over three hundred years of effort, no solutions exist for predicting when a general planetary configuration will become unstable. We introduce a deep learning architecture to push forward this problem for compact systems. While…

We introduce a continuous domain framework for the recovery of points on a surface in high dimensional space, represented as the zero-level set of a bandlimited function. We show that the exponential maps of the points on the surface…

We establish a scalable manifold learning method and theory, motivated by the problem of estimating fMRI activation manifolds in the Human Connectome Project (HCP). Our primary contribution is the development of an efficient estimation…

We develop an online probabilistic metric-semantic mapping approach for mobile robot teams relying on streaming RGB-D observations. The generated maps contain full continuous distributional information about the geometric surfaces and…

Recent advances in reconstruction methods for inverse problems leverage powerful data-driven models, e.g., deep neural networks. These techniques have demonstrated state-of-the-art performances for several imaging tasks, but they often do…

3D semantic occupancy prediction is a pivotal task in autonomous driving, providing a dense and fine-grained understanding of the surrounding environment, yet single-modality methods face trade-offs between camera semantics and LiDAR…

Previous work generally believes that improving the spatial invariance of convolutional networks is the key to object counting. However, after verifying several mainstream counting networks, we surprisingly found too strict pixel-level…

Saliency maps are often used in computer vision to provide intuitive interpretations of what input regions a model has used to produce a specific prediction. A number of approaches to saliency map generation are available, but most require…

When exploring new areas, robotic systems generally exclusively plan and execute controls over geometry that has been directly measured. When entering space that was previously obstructed from view such as turning corners in hallways or…

Traditional Bayesian approaches for model uncertainty quantification rely on notoriously difficult processes of marginalization over each network parameter to estimate its probability density function (PDF). Our hypothesis is that internal…

We propose a novel Bayesian framework for changepoint detection in large-scale spherical spatiotemporal data, with broad applicability in environmental and climate sciences. Our approach models changepoints as spatially dependent…

3D environment recognition is essential for autonomous driving systems, as autonomous vehicles require a comprehensive understanding of surrounding scenes. Recently, the predominant approach to define this real-life problem is through 3D…

When analyzing modern machine learning algorithms, we may need to handle kernel density estimation (KDE) with intricate kernels that are not designed by the user and might even be irregular and asymmetric. To handle this emerging challenge,…

Semantic scene completion (SSC) aims to predict the semantic occupancy of each voxel in the entire 3D scene from limited observations, which is an emerging and critical task for autonomous driving. Recently, many studies have turned to…

Semantic scene completion, also known as semantic occupancy prediction, can provide dense geometric and semantic information for autonomous vehicles, which attracts the increasing attention of both academia and industry. Unfortunately,…

Recent progress in variational inference has paid much attention to the flexibility of variational posteriors. One promising direction is to use implicit distributions, i.e., distributions without tractable densities as the variational…

Gaussian processes are arguably the most important class of spatiotemporal models within machine learning. They encode prior information about the modeled function and can be used for exact or approximate Bayesian learning. In many…

Functional data, with basic observational units being functions (e.g., curves, surfaces) varying over a continuum, are frequently encountered in various applications. While many statistical tools have been developed for functional data…