scholarly journals Classifier Labels as Language Grounding for Explanations

10.29007/8h3z ◽  
2018 ◽  
Author(s):  
Sai Prabhakar Pandi Selvaraj ◽  
Manuela Veloso ◽  
Stephanie Rosenthal
Keyword(s):  
Natural Language ◽  
Autonomous Robots ◽  
State Of The Art ◽  
Service Robot ◽  
Decision Making Process ◽  
Mobile Service ◽  
New Techniques ◽  
Novel Approach ◽  
Classification Tasks ◽  
Classification Prediction

Advances in state-of-the-art techniques including convolutional neural networks (CNNs) have led to improved perception in autonomous robots. However, these new techniques make a robot’s decision-making process obscure even for the experts. Our goal is to auto- matically generate natural language explanations of a robot’s perception-based inferences in order to help people understand what features contribute to these classification predic- tions. Generating natural language explanations is particularly challenging for perception and other high-dimension classification tasks because 1) we lack a mapping from features to language and 2) there are a large number of features which could be explained. We present a novel approach to generating explanations, which first finds the important features that most affect the classification prediction and then utilizes a secondary detector which can identify and label multiple parts of the features, to label only those important features. Those labels serve as the natural language groundings that we use in our explanations. We demonstrate our explanation algorithm’s ability on the floor identification classifier of our mobile service robot.

Recommending Relevant Tutorial Fragments for API-Related Natural Language Questions

2021 ◽  
Vol 31 (09) ◽  
pp. 1251-1275
Author(s):  
Di Wu ◽  
Xiao-Yuan Jing ◽  
Haowen Chen ◽  
Xiaohui Kong ◽  
Jifeng Xuan
Keyword(s):  
Natural Language ◽  
State Of The Art ◽  
Metric Learning ◽  
Application Programming Interface ◽  
Manual Annotation ◽  
Candidate List ◽  
Novel Approach ◽  
Application Programming ◽  
Programming Interface ◽  
Reciprocal Rank

Application Programming Interface (API) tutorial is an important API learning resource. To help developers learn APIs, an API tutorial is often split into a number of consecutive units that describe the same topic (i.e. tutorial fragment). We regard a tutorial fragment explaining an API as a relevant fragment of the API. Automatically recommending relevant tutorial fragments can help developers learn how to use an API. However, existing approaches often employ supervised or unsupervised manner to recommend relevant fragments, which suffers from much manual annotation effort or inaccurate recommended results. Furthermore, these approaches only support developers to input exact API names. In practice, developers often do not know which APIs to use so that they are more likely to use natural language to describe API-related questions. In this paper, we propose a novel approach, called Tutorial Fragment Recommendation (TuFraRec), to effectively recommend relevant tutorial fragments for API-related natural language questions, without much manual annotation effort. For an API tutorial, we split it into fragments and extract APIs from each fragment to build API-fragment pairs. Given a question, TuFraRec first generates several clarification APIs that are related to the question. We use clarification APIs and API-fragment pairs to construct candidate API-fragment pairs. Then, we design a semi-supervised metric learning (SML)-based model to find relevant API-fragment pairs from the candidate list, which can work well with a few labeled API-fragment pairs and a large number of unlabeled API-fragment pairs. In this way, the manual effort for labeling the relevance of API-fragment pairs can be reduced. Finally, we sort and recommend relevant API-fragment pairs based on the recommended strategy. We evaluate TuFraRec on 200 API-related natural language questions and two public tutorial datasets (Java and Android). The results demonstrate that on average TuFraRec improves NDCG@5 by 0.06 and 0.09, and improves Mean Reciprocal Rank (MRR) by 0.07 and 0.09 on two tutorial datasets as compared with the state-of-the-art approach.

scholarly journals Cooperation of multiple autonomous robots and analysis of their swarm behavior

2018 ◽  
Vol 19 (12) ◽  
pp. 872-879
Author(s):  
Bogdan Czejdo ◽  
Wiktor Daszczuk ◽  
Waldemar Grabski ◽  
Sambit Bhattacharya
Keyword(s):  
Model Checking ◽  
Environmental Changes ◽  
Autonomous Robots ◽  
New Techniques ◽  
Combinatorial Explosion ◽  
Probabilistic Verification ◽  
Novel Approach ◽  
Swarm Behavior ◽  
Near Future

In this paper, we extended previous studies of cooperating autonomous robots to include situations when environmental changes and changes in the number of robots in the swarm can affect the efficiency to execute tasks assigned to the swarm of robots. We have presented a novel approach based on partition of the robot behaviour. The sub-diagrams describing sub-routs allowed us to model advanced interactions between autonomous robots using limited number of state combinations avoiding combinatorial explosion of reachability. We identified the systems for which we can ensure the correctness of robots interactions. New techniques were presented to verify and analyze combined robots’ behaviour. The partitioned diagrams allowed us to model advanced interactions between autonomous robots and detect irregularities such as deadlocks, lack of termination etc. The techniques were presented to verify and analyze combined robots’ behaviour using model checking approach. The described system, Dedan verifier, is still under development. In the near future, timed and probabilistic verification are planned..

scholarly journals Path Smoothing Techniques in Robot Navigation: State-of-the-Art, Current and Future Challenges

Sensors ◽  
2018 ◽  
Vol 18 (9) ◽  
pp. 3170 ◽  
Author(s):  
Abhijeet Ravankar ◽  
Ankit Ravankar ◽  
Yukinori Kobayashi ◽  
Yohei Hoshino ◽  
Chao-Chung Peng
Keyword(s):  
Autonomous Vehicles ◽  
State Of The Art ◽  
Robot Navigation ◽  
Autonomous Mobile Robots ◽  
Service Robot ◽  
Mobile Service ◽  
Smoothing Techniques ◽  
Path Smoothing ◽  
Future Challenges ◽  
Self Driving Cars

Robot navigation is an indispensable component of any mobile service robot. Many path planning algorithms generate a path which has many sharp or angular turns. Such paths are not fit for mobile robot as it has to slow down at these sharp turns. These robots could be carrying delicate, dangerous, or precious items and executing these sharp turns may not be feasible kinematically. On the contrary, smooth trajectories are often desired for robot motion and must be generated while considering the static and dynamic obstacles and other constraints like feasible curvature, robot and lane dimensions, and speed. The aim of this paper is to succinctly summarize and review the path smoothing techniques in robot navigation and discuss the challenges and future trends. Both autonomous mobile robots and autonomous vehicles (outdoor robots or self-driving cars) are discussed. The state-of-the-art algorithms are broadly classified into different categories and each approach is introduced briefly with necessary background, merits, and drawbacks. Finally, the paper discusses the current and future challenges in optimal trajectory generation and smoothing research.

scholarly journals Deep Learning for Transient Image Reconstruction from ToF Data

Sensors ◽  
2021 ◽  
Vol 21 (6) ◽  
pp. 1962
Author(s):  
Enrico Buratto ◽  
Adriano Simonetto ◽  
Gianluca Agresti ◽  
Henrik Schäfer ◽  
Pietro Zanuttigh
Keyword(s):  
Deep Learning ◽  
State Of The Art ◽  
Light Response ◽  
Real Data ◽  
Depth Image ◽  
Learning Approach ◽  
Multiple Reflections ◽  
Noisy Input ◽  
Novel Approach ◽  
Incoming Light

In this work, we propose a novel approach for correcting multi-path interference (MPI) in Time-of-Flight (ToF) cameras by estimating the direct and global components of the incoming light. MPI is an error source linked to the multiple reflections of light inside a scene; each sensor pixel receives information coming from different light paths which generally leads to an overestimation of the depth. We introduce a novel deep learning approach, which estimates the structure of the time-dependent scene impulse response and from it recovers a depth image with a reduced amount of MPI. The model consists of two main blocks: a predictive model that learns a compact encoded representation of the backscattering vector from the noisy input data and a fixed backscattering model which translates the encoded representation into the high dimensional light response. Experimental results on real data show the effectiveness of the proposed approach, which reaches state-of-the-art performances.

scholarly journals A New Multi-Person Pose Estimation Method Using the Partitioned CenterPose Network

2021 ◽  
Vol 11 (9) ◽  
pp. 4241
Author(s):  
Jiahua Wu ◽  
Hyo Jong Lee
Keyword(s):  
Pose Estimation ◽  
Human Body ◽  
State Of The Art ◽  
Estimation Method ◽  
Bottom Up ◽  
Center Point ◽  
Novel Approach ◽  
Body Joints

In bottom-up multi-person pose estimation, grouping joint candidates into the appropriately structured corresponding instance of a person is challenging. In this paper, a new bottom-up method, the Partitioned CenterPose (PCP) Network, is proposed to better cluster the detected joints. To achieve this goal, we propose a novel approach called Partition Pose Representation (PPR) which integrates the instance of a person and its body joints based on joint offset. PPR leverages information about the center of the human body and the offsets between that center point and the positions of the body’s joints to encode human poses accurately. To enhance the relationships between body joints, we divide the human body into five parts, and then, we generate a sub-PPR for each part. Based on this PPR, the PCP Network can detect people and their body joints simultaneously, then group all body joints according to joint offset. Moreover, an improved l1 loss is designed to more accurately measure joint offset. Using the COCO keypoints and CrowdPose datasets for testing, it was found that the performance of the proposed method is on par with that of existing state-of-the-art bottom-up methods in terms of accuracy and speed.

Report on the 4th Joint Workshop on Bibliometric-Enhanced Information Retrieval and Natural Language Processing for Digital Libraries at SIGIR 2019

2019 ◽  
Vol 53 (2) ◽  
pp. 3-10
Author(s):  
Muthu Kumar Chandrasekaran ◽  
Philipp Mayr
Keyword(s):  
Information Retrieval ◽  
Natural Language Processing ◽  
Natural Language ◽  
Research And Development ◽  
Language Processing ◽  
Digital Libraries ◽  
State Of The Art ◽  
Shared Task ◽  
Processing Information ◽  
Joint Workshop

The 4 th joint BIRNDL workshop was held at the 42nd ACM SIGIR Conference on Research and Development in Information Retrieval (SIGIR 2019) in Paris, France. BIRNDL 2019 intended to stimulate IR researchers and digital library professionals to elaborate on new approaches in natural language processing, information retrieval, scientometrics, and recommendation techniques that can advance the state-of-the-art in scholarly document understanding, analysis, and retrieval at scale. The workshop incorporated different paper sessions and the 5 th edition of the CL-SciSumm Shared Task.

scholarly journals Density Guarantee on Finding Multiple Subgraphs and Subtensors

2021 ◽  
Vol 15 (5) ◽  
pp. 1-32
Author(s):  
Quang-huy Duong ◽  
Heri Ramampiaro ◽  
Kjetil Nørvåg ◽  
Thu-lan Dam
Keyword(s):  
Lower Bound ◽  
State Of The Art ◽  
The State ◽  
The Other ◽  
Exact Methods ◽  
Practical Solution ◽  
Novel Approach ◽  
Wide Range ◽  
Real World Datasets ◽  
Tensor Data

Dense subregion (subgraph & subtensor) detection is a well-studied area, with a wide range of applications, and numerous efficient approaches and algorithms have been proposed. Approximation approaches are commonly used for detecting dense subregions due to the complexity of the exact methods. Existing algorithms are generally efficient for dense subtensor and subgraph detection, and can perform well in many applications. However, most of the existing works utilize the state-or-the-art greedy 2-approximation algorithm to capably provide solutions with a loose theoretical density guarantee. The main drawback of most of these algorithms is that they can estimate only one subtensor, or subgraph, at a time, with a low guarantee on its density. While some methods can, on the other hand, estimate multiple subtensors, they can give a guarantee on the density with respect to the input tensor for the first estimated subsensor only. We address these drawbacks by providing both theoretical and practical solution for estimating multiple dense subtensors in tensor data and giving a higher lower bound of the density. In particular, we guarantee and prove a higher bound of the lower-bound density of the estimated subgraph and subtensors. We also propose a novel approach to show that there are multiple dense subtensors with a guarantee on its density that is greater than the lower bound used in the state-of-the-art algorithms. We evaluate our approach with extensive experiments on several real-world datasets, which demonstrates its efficiency and feasibility.

New Multi-View Classification Method with Uncertain Data

2021 ◽  
Vol 16 (1) ◽  
pp. 1-23
Author(s):  
Bo Liu ◽  
Haowen Zhong ◽  
Yanshan Xiao
Keyword(s):  
Learning Strategy ◽  
State Of The Art ◽  
Uncertain Data ◽  
Real Life ◽  
Support Vector ◽  
Classification Methods ◽  
Complementary Information ◽  
Novel Approach ◽  
Svm Model ◽  
Iterative Framework

Multi-view classification aims at designing a multi-view learning strategy to train a classifier from multi-view data, which are easily collected in practice. Most of the existing works focus on multi-view classification by assuming the multi-view data are collected with precise information. However, we always collect the uncertain multi-view data due to the collection process is corrupted with noise in real-life application. In this case, this article proposes a novel approach, called uncertain multi-view learning with support vector machine (UMV-SVM) to cope with the problem of multi-view learning with uncertain data. The method first enforces the agreement among all the views to seek complementary information of multi-view data and takes the uncertainty of the multi-view data into consideration by modeling reachability area of the noise. Then it proposes an iterative framework to solve the proposed UMV-SVM model such that we can obtain the multi-view classifier for prediction. Extensive experiments on real-life datasets have shown that the proposed UMV-SVM can achieve a better performance for uncertain multi-view classification in comparison to the state-of-the-art multi-view classification methods.

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