相关论文: Active Visual Exploration Based on Attention-Map E…

In ground-view object change detection, the recently emerging mapless navigation has great potential to navigate a robot to objects distantly detected (e.g., books, cups, clothes) and acquire high-resolution object images, to identify their…

We tackle the problem of cooperative visual exploration where multiple agents need to jointly explore unseen regions as fast as possible based on visual signals. Classical planning-based methods often suffer from expensive computation…

The demands on visual recognition systems do not end with the complexity offered by current large-scale image datasets, such as ImageNet. In consequence, we need curious and continuously learning algorithms that actively acquire knowledge…

This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…

Standard computer vision systems assume access to intelligently captured inputs (e.g., photos from a human photographer), yet autonomously capturing good observations is a major challenge in itself. We address the problem of learning to…

Active learning (AL) has emerged as a crucial strategy for reducing the prohibitive costs associated with medical image segmentation. However, standard uncertainty-based AL methods typically focus on maximizing performance metrics, ignoring…

Neural rendering algorithms introduce a fundamentally new approach for photorealistic rendering, typically by learning a neural representation of illumination on large numbers of ground truth images. When training for a given variable…

Weakly supervised object detection is a challenging task when provided with image category supervision but required to learn, at the same time, object locations and object detectors. The inconsistency between the weak supervision and…

We consider the problem of diagnosis where a set of simple observations are used to infer a potentially complex hidden hypothesis. Finding the optimal subset of observations is intractable in general, thus we focus on the problem of active…

Exploration is one of the core challenges in reinforcement learning. A common formulation of curiosity-driven exploration uses the difference between the real future and the future predicted by a learned model. However, predicting the…

The entropic associative memory (EAM) is a computational model of natural memory incorporating some of its putative properties of being associative, distributed, declarative, abstractive and constructive. Previous experiments satisfactorily…

Learning from diverse offline datasets is a promising path towards learning general purpose robotic agents. However, a core challenge in this paradigm lies in collecting large amounts of meaningful data, while not depending on a human in…

This paper explores active sensing strategies that employ vision-based tactile sensors for robotic perception and classification of fabric textures. We formalize the active sampling problem in the context of tactile fabric recognition and…

Exploration is essential for solving complex Reinforcement Learning (RL) tasks. Maximum State-Visitation Entropy (MSVE) formulates the exploration problem as a well-defined policy optimization problem whose solution aims at visiting all…

We propose a new active learning approach for efficiently estimating the geographic range of a species from a limited number of on the ground observations. We model the range of an unmapped species of interest as the weighted combination of…

Active perception is a fundamental problem in autonomous robotics in which the robot must decide where to move and what to sense in order to obtain the most informative observations for accomplishing its mission. Existing approaches either…

Developments in machine learning interpretability techniques over the past decade have provided new tools to observe the image regions that are most informative for classification and localization in artificial neural networks (ANNs). Are…

The deployment of autonomous agents in real-world scenarios is challenged by "unknown unknowns", i.e. novel unexpected environments not encountered during training, such as degraded signs. While existing research focuses on anomaly…

Multi-class semantic segmentation remains a cornerstone challenge in computer vision. Yet, dataset creation remains excessively demanding in time and effort, especially for specialized domains. Active Learning (AL) mitigates this challenge…

A key problem of robotic environmental sensing and monitoring is that of active sensing: How can a team of robots plan the most informative observation paths to minimize the uncertainty in modeling and predicting an environmental…