相关论文: Towards Explaining Uncertainty Estimates in Point …

Invariant causal prediction (ICP) is a popular technique for finding causal parents (direct causes) of a target via exploiting distribution shifts and invariance testing (Peters et al., 2016). However, since ICP needs to run an exponential…

Deep classifiers tend to associate a few discriminative input variables with their objective function, which in turn, may hurt their generalization capabilities. To address this, one can design systematic experiments and/or inspect the…

Explainable Artificial Intelligence (XAI) techniques, such as SHapley Additive exPlanations (SHAP), have become essential tools for interpreting complex ensemble tree-based models, especially in high-stakes domains such as healthcare…

We propose a novel segmentation-based explainable artificial intelligence (XAI) method for neural networks working on point cloud classification. As one building block of this method, we propose a novel point-shifting mechanism to introduce…

ICP algorithms typically involve a fixed choice of data association method and a fixed choice of error metric. In this paper, we propose Hybrid ICP, a novel and flexible ICP variant which dynamically optimises both the data association…

In this paper, we propose a coarse-to-fine integration solution inspired by the classical ICP algorithm, to pairwise 3D point cloud registration with two improvements of hybrid metric spaces (eg, BSC feature and Euclidean geometry spaces)…

Score-based explainable machine-learning techniques are often used to understand the logic behind black-box models. However, such explanation techniques are often computationally expensive, which limits their application in time-critical…

In the Canadian's lumber industry, simulators are used to predict the lumbers resulting from the sawing of a log at a given sawmill. Giving a log or several logs' 3D scans as input, simulators perform a real-time job to predict the lumbers.…

This paper proposes probabilistic conformal prediction (PCP), a predictive inference algorithm that estimates a target variable by a discontinuous predictive set. Given inputs, PCP construct the predictive set based on random samples from…

This work focuses on Registration or Alignment of 3D point sets. Although the Registration problem is a well established problem and it's solved using multiple variants of Iterative Closest Point (ICP) Algorithm, most of the approaches in…

LiDAR-based 3D sensors provide point clouds, a canonical 3D representation used in various scene understanding tasks. Modern LiDARs face key challenges in several real-world scenarios, such as long-distance or low-albedo objects, producing…

Explainable Artificial Intelligence (XAI) is widely regarding as a cornerstone of trustworthy AI. Unfortunately, most work on XAI offers no guarantees of rigor. In high-stakes domains, e.g. uses of AI that impact humans, the lack of rigor…

We propose a generalization of the iterative closest point (ICP) algorithm for point set registration, in which the registration functions are non-rigid and follow the large deformation diffeomorphic metric mapping (LDDMM) framework. The…

We study computing geometric problems on uncertain points. An uncertain point is a point that does not have a fixed location, but rather is described by a probability distribution. When these probability distributions are restricted to a…

Interpretable machine learning has been focusing on explaining final models that optimize performance. The current state-of-the-art is the Shapley additive explanations (SHAP) that locally explains variable impact on individual predictions,…

Point cloud registration is a popular topic which has been widely used in 3D model reconstruction, location, and retrieval. In this paper, we propose a new registration method, KSS-ICP, to address the rigid registration task in Kendall…

Understanding predictions made by Machine Learning models is critical in many applications. In this work, we investigate the performance of two methods for explaining tree-based models- Tree Interpreter (TI) and SHapley Additive…

This paper presents the framework \textbf{GUARD} (\textbf{G}uided robot control via \textbf{U}ncertainty attribution and prob\textbf{A}bilistic kernel optimization for \textbf{R}isk-aware \textbf{D}ecision making) that combines traditional…

The deployment of safe and trustworthy machine learning systems, and particularly complex black box neural networks, in real-world applications requires reliable and certified guarantees on their performance. The conformal prediction…

In this paper, we derive a probabilistic registration algorithm for object modeling and tracking. In many robotics applications, such as manipulation tasks, nonvisual information about the movement of the object is available, which we will…