相关论文: Optimizing Multi-Task Learning for Accurate Spacec…

Purpose: Surgery scene understanding with tool-tissue interaction recognition and automatic report generation can play an important role in intra-operative guidance, decision-making and postoperative analysis in robotic surgery. However,…

The classical approach to non-linear regression in physics, is to take a mathematical model describing the functional dependence of the dependent variable from a set of independent variables, and then, using non-linear fitting algorithms,…

We propose an approach to estimate the 6DOF pose of a satellite, relative to a canonical pose, from a single image. Such a problem is crucial in many space proximity operations, such as docking, debris removal, and inter-spacecraft…

Tracking the pose of instruments is a central problem in image-guided surgery. For microscopic scenarios, optical coherence tomography (OCT) is increasingly used as an imaging modality. OCT is suitable for accurate pose estimation due to…

With many practical applications in human life, including manufacturing surveillance cameras, analyzing and processing customer behavior, many researchers are noticing face detection and head pose estimation on digital images. A large…

Pose estimation of an uncooperative space resident object is a key asset towards autonomy in close proximity operations. In this context monocular cameras are a valuable solution because of their low system requirements. However, the…

Multi-task learning (MTL) has been widely adopted for its ability to simultaneously learn multiple tasks. While existing gradient manipulation methods often yield more balanced solutions than simple scalarization-based approaches, they…

A common approach for modeling the environment of an autonomous vehicle are dynamic occupancy grid maps, in which the surrounding is divided into cells, each containing the occupancy and velocity state of its location. Despite the advantage…

One core challenge in object pose estimation is to ensure accurate and robust performance for large numbers of diverse foreground objects amidst complex background clutter. In this work, we present a scalable framework for accurately…

We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. The model is learned from training episodes, by relying on: a…

Accurate forecasting of multivariate time series data is important in many engineering and scientific applications. Recent state-of-the-art works ignore the inter-relations between variates, using their model on each variate independently.…

The perception system for autonomous driving generally requires to handle multiple diverse sub-tasks. However, current algorithms typically tackle individual sub-tasks separately, which leads to low efficiency when aiming at obtaining…

Multi-task learning (MTL) seeks to improve the generalized performance of learning specific tasks, exploiting useful information incorporated in related tasks. As a promising area, this paper studies an MTL-based control approach…

This paper focuses on vision-based pose estimation for multiple rigid objects placed in clutter, especially in cases involving occlusions and objects resting on each other. Progress has been achieved recently in object recognition given…

Multi-Task Learning (MTL) is a powerful technique that has gained popularity due to its performance improvement over traditional Single-Task Learning (STL). However, MTL is often challenging because there is an exponential number of…

Localization is an indispensable component of a robot's autonomy stack that enables it to determine where it is in the environment, essentially making it a precursor for any action execution or planning. Although convolutional neural…

Multi-task learning (MTL) is frequently used in settings where a target task has to be learnt based on limited training data, but knowledge can be leveraged from related auxiliary tasks. While MTL can improve task performance overall…

Multi-Task Learning (MTL) aims to learn multiple tasks simultaneously while exploiting their mutual relationships. By using shared resources to simultaneously calculate multiple outputs, this learning paradigm has the potential to have…

Multi-task learning (MTL) aims to improve the performance of multiple related prediction tasks by leveraging useful information from them. Due to their flexibility and ability to reduce unknown coefficients substantially, the…

Multi-task learning (MTL) aims to improve the generalization of several related tasks by learning them jointly. As a comparison, in addition to the joint training scheme, modern meta-learning allows unseen tasks with limited labels during…