Question: DeepFood: Utilizing Deep Learning for Food Image Recognition in Computer-Aided Dietary Assessment

This paper presents an innovative framework, termed Generalized Denoising Auto-Encoders (GDAE), designed to function as generative models for a variety of data types. Prior research has highlighted the capability of denoising and contractive autoencoders to implicitly learn the structure of the data-generating density, assuming Gaussian corruption noise, squared error as the reconstruction metric, and continuous-valued data. This discovery has spurred the development of various methodologies to sample from the learned density function, utilizing Langevin and Metropolis-Hastings MCMC techniques. However, a critical gap existed in understanding how to align the training process of autoencoders with the implicit estimation of the underlying data-generating distribution when dealing with discrete data, alternative corruption processes, or differing reconstruction errors. Moreover, the theoretical underpinning was contingent upon the assumption of infinitesimal corruption noise.

In response to these challenges, we introduce a novel approach that addresses these limitations comprehensively. Our methodology accommodates arbitrary corruption processes, provided they introduce sufficient noise, and allows for any reconstruction loss, interpreted as a log-likelihood. Crucially, our framework is versatile, catering to both discrete and continuous-valued variables. Additionally, we rectify the bias introduced by non-infinitesimal corruption noise or contractive penalties, thereby enhancing the accuracy of our generative models.

In the realm of dietary assessment, this framework could be adapted to analyze and generate food images, contributing to the development of computer-aided dietary evaluation tools. By accurately capturing the nuances of food images, GDAE can assist in creating a database that reflects the diversity and complexity of dietary intake, potentially revolutionizing nutritional analysis and diet planning.

Deep learning (DL) is a popular method that is used to perform many important tasks in radiology and medical imaging. Some forms of DL are able to accurately segment organs (essentially, trace the boundaries, enabling volume measurements or calculation of other properties). Other DL networks are able to predict important properties from regions of an image-for instance, whether something is malignant, molecular markers for tissue in a region, even prognostic markers. DL is easier to train than traditional machine learning methods, but requires more data and much more care in analyzing results. It will automatically find the features of importance, but understanding what those features are can be a challenge. This article describes the basic concepts of DL systems and some of the traps that exist in building DL systems and how to identify those traps.

In this paper, we propose an acceleration-based human activity recognition method using popular deep architecture, Convolution Neural Network (CNN). In particular, we construct a CNN model and modify the convolution kernel to adapt the characteristics of tri-axial acceleration signals. Also, for comparison, we use some widely used methods to accomplish the recognition task on the same dataset. The large dataset we constructed consists of 31688 samples from eight typical activities. The experiment results show that the CNN works well, which can reach an average accuracy of 93.8% without any feature extraction methods.

In this paper we evaluated deep-learning frameworks based on Convolutional Neural Networks for the accurate classification of multispectral remote sensing data. Certain state-of-the-art models have been tested on the publicly available SAT-4 and SAT-6 high resolution satellite multispectral datasets. In particular, the performed benchmark included the AlexNet, AlexNet-small and VGG models which had been trained and applied to both datasets exploiting all the available spectral information. Deep Belief Networks, Autoencoders and other semi-supervised frameworks have been, also, compared. The high level features that were calculated from the tested models managed to classify the different land cover classes with significantly high accuracy rates i.e., above 99.9%. The experimental results demonstrate the great potentials of advanced deep-learning frameworks for the supervised classification of high resolution multispectral remote sensing data.

In this paper, the automatic medical annotation task of the 2007 CLEF cross-language image retrieval campaign (ImageCLEF) is described. The paper focusses on the images used, the task setup, and the results obtained in the evaluation campaign. Since 2005, the medical automatic image annotation task exists in ImageCLEF with increasing complexity to evaluate the performance of state-of-the-art methods for completely automatic annotation of medical images based on visual properties. The paper also describes the evolution of the task from its origin in 2005 to 2007. The 2007 task, comprising 11,000 fully annotated training images and 1,000 test images to be annotated, is a realistic task with a large number of possible classes at different levels of detail. Detailed analysis of the methods across participating groups is presented with respect to the (i) image representation, (ii) classification method, and (iii) use of the class hierarchy. The results show that methods which build on local image descriptors and discriminative models are able to provide good predictions of the image classes, mostly by using techniques that were originally developed in the machine learning and computer vision domain for object recognition in non-medical images.

Recently, Deep Learning, especially through Convolutional Neural Networks (CNNs) has been widely used to enable the extraction of highly representative features. This is done among the network layers by filtering, selecting, and using these features in the last fully connected layers for pattern classification. However, CNN training for automated endoscopic image classification still provides a challenge due to the lack of large and publicly available annotated databases. In this work we explore Deep Learning for the automated classification of colonic polyps using different configurations for training CNNs from scratch (or full training) and distinct architectures of pretrained CNNs tested on 8-HD-endoscopic image databases acquired using different modalities. We compare our results with some commonly used features for colonic polyp classification and the good results suggest that features learned by CNNs trained from scratch and the "off-the-shelf" CNNs features can be highly relevant for automated classification of colonic polyps. Moreover, we also show that the combination of classical features and "off-the-shelf" CNNs features can be a good approach to further improve the results.

A computer vision system has been implemented that can recognize threedimensional objects from unknown viewpoints in single gray-scale images. Unlike most other approaches, the recognition is accomplished without any attempt to reconstruct depth information bottom-up from the visual input. Instead, three other mechanisms are used that can bridge the gap between the two-dimensional image and knowledge of three-dimensional objects. First, a process of perceptual organization is used to form groupings and structures in the image that are likely to be invariant over a wide range of viewpoints. Second, a probabilistic ranking method is used to reduce the size of the search space during model based matching. Finally, a process of spatial correspondence brings the projections of three-dimensional models into direct correspondence with the image by solving for unknown viewpoint and model parameters. A high level of robustness in the presence of occlusion and missing data can be achieved through full application of a viewpoint consistency constraint. It is argued that similar mechanisms and constraints form the basis for recognition in human vision. This paper has been published in Artificial Intelligence, 31, 3 (March 1987), pp. 355–395.

There is a topic of interest for many researchers about human activities recognition in recent years. In this paper, we propose the research to recognize human activities by deep learning (DL) algorithm. We collected the data from participants performing activities in order to evaluate the human activities recognition results. After pre-training the deep network, the fine-tuning process begins. Compared with Hidden Markov Model (HMM) and naïve Bayes Classifier (NBC), the experiment results show that the proposed deep learning algorithm is an effective way for recognizing human activities in smart home.

Visual inspection of neuroimagery is susceptible to human eye limitations. Computerized methods have been shown to be equally or more e↵ective than human clinicians in diagnosing dementia from neuroimages. Nevertheless, much of the work involves the use of domain expertise to extract hand–crafted features. The key technique in this paper is the use of cross–domain features to represent MRI data. We used a sparse autoencoder to learn a set of bases from natural images and then applied convolution to extract features from the Alzheimer’s Disease Neuroimaging Initiative (ADNI) dataset. Using this new representation, we classify MRI instances into three categories: Alzheimer’s Disease (AD), Mild Cognitive Impairment (MCI) and Healthy Control (HC). Our approach, in spite of being very simple, achieved high classification performance, which is competitive with or better than other approaches.

We present a novel procedure to apply deep learning techniques to medical image classification. With increasing popularity of computed tomography (CT) lung screening, fully manual diagnosis of lung cancer puts a burden on the radiologists who need to spend hours reading through CT scanned images to identify Region of Interests (ROIs) to schedule follow-ups. Accurate computer-aided diagnosis of lung cancer can effectively reduce their workload and help training new radiologists. However, lung cancer detection is challenging because of the varying size, location, shape, and density of nodules. Many studies have approached this problem using image-processing techniques with the intention of developing an optimal set of features. Convolutional neural network has demonstrated to learn discriminative visual features automatically and has beat many state-of-art algorithms in image-processing tasks, such as pattern recognition, object detection, segmentation, etc. In this report, we evaluate the feasibility of implementing deep learning algorithms for lung cancer diagnosis with the Lung Image Database Consortium (LIDC) database. We compare the performance of two 2.5D convolutional neural network models, two 3D convolutional neural network models, and one 3D convolutional neural networks with a 3D spatial transformer network module on the task of detecting lung nodules. The performance of our best model is comparable with the state-of-art results in the lung nodule detection task.

: In this paper the proposed system uses content based image retrieval (CBIR) technique for identification of seed e.g. wheat, rice, gram etc. on the basis of their features. CBIR is a technique to identify or recognize the image on the basis of features present in image. Basically features are classified in to four categories 1.color 2.Shape 3. texture 4. size .In this system we are extracting color, shape feature extraction. After that classifying images in to categories using neural network according to the weights and image displayed from the category for which neural network shows maximum weight. category1 belongs to wheat and category2 belongs to gram. Experiment was conducted on 200 images of wheat and gram by using Euclidean distance(ED) and artificial neural network techniques. From 200 images 150 are used for training purpose and 50 images are used for testing purpose. The precision rate of the system by using ED is 84.4 percent By using Artificial neural network precision rate is 95 percent.


Question: DeepFood: A deep learning-based method for recognizing food images in computer-aided dietary assessment.

Introducing PFID: The Pittsburgh Fast-Food Image Dataset for Advancing Dietary Assessment
In this paper, we unveil PFID, the first comprehensive visual dataset specifically designed for the recognition and analysis of fast foods. The dataset comprises a total of 4,545 still images, 606 stereo pairs, 303 360° videos for structure from motion analysis, and 27 privacy-conscious videos capturing eating scenarios of volunteers. This endeavor was spurred by the need to enhance fast food recognition capabilities in the context of dietary assessment. To compile PFID, we meticulously sourced three distinct instances of 101 popular fast foods from 11 well-known fast food chains, ensuring a diverse and representative sample. Images and videos were captured under both natural restaurant conditions and controlled laboratory settings to offer a wide range of visual contexts. We further assess the dataset's potential through benchmarking with two established methods: color histogram and bag of SIFT features, complemented by a discriminative classifier. The purpose of PFID and these benchmarks is to invigorate research in this field and provide a valuable resource to the scientific community, which will be freely accessible upon release.

Image change detection is a process to analyze multi-temproal images of the same scene for identifying the changes that have occurred. In this paper, we propose a novel difference image analysis approach based on deep neural networks for image change detection problems. The deep neural network learning algorithm for classification includes unsupervised feature learning and supervised fine-tuning. Some samples with the labels of high accuracy obtained by a pre-classification are used for fine-tuning. Since a deep neural network can learn complicated functions that can represent high-level abstractions, it can obtain satisfactory results. Theoretical analysis and experiment results on real datasets show that the proposed method outperforms some other methods.

Facial expression recognition systems have attracted much research interest within the field of artificial intelligence. Many established facial expression recognition (FER) systems apply standard machine learning to extracted image features, and these methods generalize poorly to previously unseen data. This project builds upon recent research to classify images of human faces into discrete emotion categories using convolutional neural networks (CNNs). We experimented with different architectures and methods such as fractional max-pooling and finetuning, ultimately achieving an accuracy of 0.48 in a sevenclass classification task.

We provide a detailed review of the work on human action recognition over the past decade. We refer to “actions” as meaningful human motions. Starting with methods that are based on handcrafted representations, we review the impact of revamped deep neural networks on action recognition. We follow a systematic taxonomy of action recognition approaches to present a coherent discussion over their improvements and fall-backs.

Automated tissue characterization is one of the most crucial components of a computer aided diagnosis (CAD) system for interstitial lung diseases (ILDs). Although much research has been conducted in this field, the problem remains challenging. Deep learning techniques have recently achieved impressive results in a variety of computer vision problems, raising expectations that they might be applied in other domains, such as medical image analysis. In this paper, we propose and evaluate a convolutional neural network (CNN), designed for the classification of ILD patterns. The proposed network consists of 5 convolutional layers with 2 × 2 kernels and LeakyReLU activations, followed by average pooling with size equal to the size of the final feature maps and three dense layers. The last dense layer has 7 outputs, equivalent to the classes considered: healthy, ground glass opacity (GGO), micronodules, consolidation, reticulation, honeycombing and a combination of GGO/reticulation. To train and evaluate the CNN, we used a dataset of 14696 image patches, derived by 120 CT scans from different scanners and hospitals. To the best of our knowledge, this is the first deep CNN designed for the specific problem. A comparative analysis proved the effectiveness of the proposed CNN against previous methods in a challenging dataset. The classification performance ( ~ 85.5%) demonstrated the potential of CNNs in analyzing lung patterns. Future work includes, extending the CNN to three-dimensional data provided by CT volume scans and integrating the proposed method into a CAD system that aims to provide differential diagnosis for ILDs as a supportive tool for radiologists.

Diet monitoring is one of the most important aspects in preventative health care that aims to reduce various health risks. Manual recording has been a prevalence among all approaches yet it is tedious and often end up with a low adherence rate. Several existing techniques that have been developed to monitor food intake suffer too with accuracy, efficiency, and user acceptance rate. In this paper we propose a novel approach on measuring food nutrition facts, through a pocket-size non-intrusive near-infrared (NIR) scanner. We build efficient regression models that can make quantitative prediction on food nutrition contents, such as energy and carbohydrate. Our extensive experiments on off-the-shelf liquid foods demonstrates the accuracy of these regression models and proves the applicability of using NIR spectra that are collected by small hand-held scanner, on food nutrition prediction.

Automatic segmentation of blood vessels in fundus images is of great importance as eye diseases as well as some systemic diseases cause observable pathologic modifications. It is a binary classification problem: for each pixel we consider two possible classes (vessel or non-vessel). We use a GPU implementation of deep max-pooling convolutional neural networks to segment blood vessels. We test our method on publiclyavailable DRIVE dataset and our results demonstrate the high effectiveness of the deep learning approach. Our method achieves an average accuracy and AUC of 0.9466 and 0.9749, respectively.

This paper proposes an automated system for recognizing plant species based on leaf images. Plant leaf images corresponding to three plant types, are analyzed using two different shape modeling techniques, the first based on the Moments-Invariant (M-I) model and the second on the CentroidRadii (C-R) model. For the M-I model the first four normalized central moments have been considered and studied in various combinations viz. individually, in joint 2-D and 3-D feature spaces for producing optimum results. For the C-R model an edge detector has been used to identify the boundary of the leaf shape and 36 radii at 10 degree angular separation have been used to build the feature vector. To further improve the accuracy, a hybrid set of features involving both the M-I and C-R models has been generated and explored to find whether the combination feature vector can lead to better performance. Neural networks are used as classifiers for discrimination. The data set consists of 180 images divided into three classes with 60 images each. Accuracies ranging from 90%-100% are obtained which are comparable to the best figures reported in extant literature. Keywords-plant recognition; moment invariants; centroid-radii model; neural network; computer vision.

Categorization of medical images means selecting the appropriate class for a given image out of a set of pre-defined categories. This is an important step for data mining and content-based image retrieval (CBIR). So far, published approaches are capable to distinguish up to 10 categories. In this paper, we evaluate automatic categorization into more than 80 categories describing the imaging modality and direction as well as the body part and biological system examined. Based on 6231 reference images from hospital routine, 85.5% correctness is obtained combining global texture features with scaled images. With a frequency of 97.7%, the correct class is within the best ten matches, which is sufficient for medical CBIR applications.

Pose estimation of object is one of the key problems for the automatic-grasping task of robotics. In this paper, we present a new vision-based robotic grasping system, which can not only recognize different objects but also estimate their poses by using a deep learning model, finally grasp them and move to a predefined destination. The deep learning model demonstrates strong power in learning hierarchical features which greatly facilitates the recognition mission. We apply the Max-pooling Convolutional Neural Network (MPCNN), one of the most popular deep learning models, in this system, and assign different poses of objects as different classes in MPCNN. Besides, a new object detection method is also presented to overcome the disadvantage of the deep learning model. We have built a database comprised of 5 objects with different poses and illuminations for experimental performance evaluation. The experimental results demonstrate that our system can achieve high accuracy on object recognition as well as pose estimation. And the vision-based robotic system can grasp objects successfully regardless of different poses and illuminations.

This work investigated two different machine learning techniques: Cascade Learning and Deep Learning, to find out which algorithm performs better to detect the number plate of vehicles registered in Bangladesh. To do this, we created a dataset of about 1000 images collected from a security camera of Independent University, Bangladesh. Each image in the dataset were then labelled manually by selecting the Region of Interest (ROI). In the Cascade Learning approach, a sliding window technique was used to detect objects. Then a cascade classifier was employed to determine if the window contained object of interest or not. In the Deep Learning approach, CIFAR-10 dataset was used to pre-train a 15-layer Convolutional Neural Network (CNN). Using this pretrained CNN, a Regions with CNN (R-CNN) was then trained using our dataset. We found that the Deep Learning approach (maximum accuracy 99.60% using 566 training images) outperforms the detector constructed using Cascade classifiers (maximum accuracy 59.52% using 566 positive and 1022 negative training images) for 252 test images.


Question: DeepFood: A deep learning-based method for food image recognition in computer-aided dietary assessment.

**Similar Documents**: The ImageNet project: Constructing a vast, categorized image repository

This document details the ImageNet project, a pioneering initiative aimed at creating a large-scale, hierarchical image database. ImageNet is designed to serve as a comprehensive resource for visual recognition research, featuring millions of images organized into thousands of categories. Each category within the database represents a specific object concept, encompassing various aspects of the visual world. The images are meticulously annotated and categorized, facilitating the training and evaluation of machine learning algorithms, particularly those focused on deep learning. ImageNet has significantly contributed to advancements in computer vision by providing a rich, diverse dataset that has been instrumental in numerous research studies and competitions, including the renowned ImageNet Large Scale Visual Recognition Challenge (ILSVRC). The project's scale and complexity have pushed the boundaries of what is achievable in image recognition and have been pivotal in the development of sophisticated computer-aided dietary assessment tools, such as DeepFood. The integration of ImageNet's vast image collection with deep learning techniques has enabled more accurate and efficient recognition of food images, enhancing the capabilities of dietary assessment systems.

ImageCLEF is the image retrieval task of the Conference and Labs of the Evaluation Forum (CLEF). ImageCLEF has historically focused on the multimodal and language–independent retrieval of images. Many tasks are related to image classification and the annotation of image data as well. The medical task has focused more on image retrieval in the beginning and then retrieval and classification tasks in subsequent years. In 2016 a main focus was the creation of meta data for a collection of medical images taken from articles of the the biomedical scientific literature. In total 8 teams participated in the four tasks and 69 runs were submitted. No team participated in the caption prediction task, a totally new task. Deep learning has now been used for several of the ImageCLEF tasks and by many of the participants obtaining very good results. A majority of runs was submitting using deep learning and this follows general trends in machine learning. In several of the tasks multimodal approaches clearly led to best results.

Image processing has been proved to be an effective tool for analysis in various human activity areas, namely, agricultural applications. Interpreting a digital color image of fruit orchard captured in field environment is extremely challenging due to adverse weather conditions, luminance variability and the presence of dust, insects and other unavoidable image noises. The purpose of this survey is to categorize and briefly review the literature on computer analysis of fruit images in agricultural operations, which comprises more than 60 papers published in the last 10 years. With the aim to perform applied research in agricultural imaging, this paper intends to focus on advanced image processing and analysis techniques used in applications for detection and classifications of fruits, developed in the last decade. For the reviewed techniques, some performance evaluation metrics achieved in various experiments are emphasized to help the researchers when making choices and develop new computer vision applications in fruit images.

Recently, a new ICT approach to agriculture called “Smart Agriculture” has been received great attention to support farmers' decision-making for good final yield on various kinds of field conditions. For this purpose, this paper presents two image sensing methods that enable an automatic observation to capture flowers and seedpods of soybeans in real fields. The developed image sensing methods are considered as sensors in an agricultural cyber-physical system in which big data on the growth status of agricultural plants and environmental information (e.g., weather, temperature, humidity, solar radiation, soil condition, etc.) are analyzed to mine useful rules for appropriate cultivation. The proposed image sensing methods are constructed by combining several image processing and machine learning techniques. The flower detection is realized based on a coarse-to-fine approach where candidate areas of flowers are first detected by SLIC and hue information, and the acceptance of flowers is decided by CNN. In the seedpod detection, candidates of seedpod regions are first detected by the Viola-Jones object detection method, and we also use CNN to make a final decision on the acceptance of detected seedpods. The performance of the proposed image sensing methods is evaluated for a data set of soybean images that were taken from a crowd of soybeans in real agricultural fields in Hokkaido, Japan.

The multimedia community has witnessed the rise of deep learning–based techniques in analyzing multimedia content more effectively. In the past decade, the convergence of deep-learning and multimedia analytics has boosted the performance of several traditional tasks, such as classification, detection, and regression, and has also fundamentally changed the landscape of several relatively new areas, such as semantic segmentation, captioning, and content generation. This article aims to review the development path of major tasks in multimedia analytics and take a look into future directions. We start by summarizing the fundamental deep techniques related to multimedia analytics, especially in the visual domain, and then review representative high-level tasks powered by recent advances. Moreover, the performance review of popular benchmarks gives a pathway to technology advancement and helps identify both milestone works and future directions.

Together with the development of more accurate methods in Computer Vision and Natural Language Understanding, holistic architectures that answer on questions about the content of real-world images have emerged. In this tutorial, we build a neural-based approach to answer questions about images. We base our tutorial on two datasets: (mostly on) DAQUAR, and (a bit on) VQA. With small tweaks the models that we present here can achieve a competitive performance on both datasets, in fact, they are among the best methods that use a combination of LSTM with a global, full frame CNN representation of an image. We hope that after reading this tutorial, the reader will be able to use Deep Learning frameworks, such as Keras and introduced Kraino, to build various architectures that will lead to a further performance improvement on this challenging task. 1 Preface In this tutorial1 we build a few architectures that can answer questions about images. The architectures are based on our two papers on this topic: Malinowski et al. [2015] and Malinowski et al. [2016]; and more broadly, on our project towards a Visual Turing Test2. In particular, an encoder-decoder perspective of Malinowski et al. [2016] allows us to effectively experiment with various design choices. For the sake of simplicity, we only consider a classification-based approach to answer questions about images, although an approach that generate answers word-by-word is also studied in the community [Malinowski et al., 2015]. In the tutorial, we mainly focus on the DAQUAR dataset [Malinowski and Fritz, 2014a], but a few possible directions to apply learnt techniques to VQA [Antol et al., 2015] are also pointed. First, we will get familiar with the task of answering questions about images, and a dataset that implements the task (due to a small size, we mainly use DAQUAR as it better serves an educational purpose that we aim at this tutorial). Next, we build a few blind models that answer questions about images without actually seeing such images. Such models already exhibit a reasonable performance as they can effectively learn various biases that exist in a dataset, which we also interpret as learning a common sense knowledge [Malinowski et al., 2015, 2016]. Subsequently, we build a few language+vision models that answer questions based on both a textual and a visual inputs. Finally, we leave the tutorial with a few possible research directions. Technical aspects The tutorial is originally written using Python Notebook, which the reader is welcome to download and use through the tutorial. Instructions necessary to run the Notebook version of this tutorial are provided in the following: https://github.com/mateuszmalinowski/visual_turing_test-tutorial. In this tutorial, we heavily use a Python code, and therefore it is expected the reader either already knows this language, or can quickly learn it. However, we made an effort to make this tutorial approachable to a wider audience. We use Kraino that is a framework prepared for this tutorial in order to simplify the development of the question answering architectures. Under the hood, it uses Theano4 [Bastien et al., 2012] and Keras5 [Chollet, 2015] – two frameworks to build Deep Learning models. We also use various CNNs representations extracted from images that can be downloaded as explained at the beginning of our Notebook tutorial. We also highlight exercises that a curious reader may attempt to solve. This tutorial was presented for the first time during the 2nd Summer School on Integrating Vision and Language: Deep Learning. http://mpii.de/visual_turing_test https://github.com/mateuszmalinowski/visual_turing_test-tutorial/blob/master/visual_ turing_test.ipynb http://deeplearning.net/software/theano/ https://keras.io 1 ar X iv :1 61 0. 01 07 6v 1 [ cs .C V ] 4 O ct 2 01 6

Many internet users are potential victims of the pornographic images and a large part of them are underage children. Thus, content-based pornographic images detection is an important task in computer vision and multimedia research. Previous solutions usually rely on hand-engineered visual features that are hard to analyze and select. In this paper, to detect pornographic images in any style accurately and efficiently with a single model, a novel scheme utilizing the deep convolutional neural networks (CNN) is proposed. The training data are obtained from internet followed by an improved sliding window method and some novel data augmentation approaches. Then a highly efficient training algorithm is proposed based on two strategies. The first is the pre-trained midlevel representations non-fixed fine-tuning strategy. The second is adjusting the training data at the appropriate time on the basis of the performance of the proposed network on the validation set. Furthermore, we introduce a fast image scanning method which is also based on the sliding window approach in the test. We further propose a fast forward pass method based on the “fixedpoint algorithm”. So our CNN could detect all scale images so fast by one forward pass. The effectiveness of the proposed method is demonstrated in experiments on the proposed dataset and the comparative results show that our ∗Corresponding author Email address: tenglwy@gmail.com (Teng Li) Preprint submitted to Neurocomputing June 9, 2016 method lead to state-of-the-art detection performance.

Activity recognition from smart devices and wearable sensors is an active area of research due to the widespread adoption of smart devices and the benefits it provide for supporting people in their daily lives. Many of the available datasets for fine-grained primitive activity recognition focus on locomotion or sports activities with less emphasis on real-world day-to-day behavior. This paper presents a new dataset for activity recognition in a realistic unmodified kitchen environment. Data was collected using only smart-watches from 10 lay participants while they prepared food in an unmodified rented kitchen. The paper also providing baseline performance measures for different classifiers on this dataset. Moreover, a deep feature learning system and more traditional statistical features based approaches are compared. This analysis shows that - for all evaluation criteria - data-driven feature learning allows the classifier to achieve best performance compared with hand-crafted features.

Visual inspection of neuroimagery is susceptible to human eye limitations. Computerized methods have been shown to be equally or more e↵ective than human clinicians in diagnosing dementia from neuroimages. Nevertheless, much of the work involves the use of domain expertise to extract hand–crafted features. The key technique in this paper is the use of cross–domain features to represent MRI data. We used a sparse autoencoder to learn a set of bases from natural images and then applied convolution to extract features from the Alzheimer’s Disease Neuroimaging Initiative (ADNI) dataset. Using this new representation, we classify MRI instances into three categories: Alzheimer’s Disease (AD), Mild Cognitive Impairment (MCI) and Healthy Control (HC). Our approach, in spite of being very simple, achieved high classification performance, which is competitive with or better than other approaches.

Artificial neural networks (ANNs) have many applications in various scientific areas such as identification, prediction and image processing. This research was done at the Islamic Azad University, Shahr-e-Rey Branch, during 2011 for classification of 5 main rice grain varieties grown in different environments in Iran. Classification was made in terms of 24 color features, 11 morphological features and 4 shape factors that were extracted from color images of each grain of rice. The rice grains were then classified according to variety by multi layer perceptron (MLP) and neuro-fuzzy neural networks. The topological structure of the MLP model contained 39 neurons in the input layer, 5 neurons (Khazar, Gharib, Ghasrdashti, Gerdeh and Mohammadi) in the output layer and two hidden layers; neuro-fuzzy classifier applied the same structure in input and output layers with 60 rules. Average accuracy amounts for classification of rice grain varieties computed 99.46% and 99.73% by MLP and neuro-fuzzy classifiers alternatively. The accuracy of MLP and neuro-fuzzy networks changed after feature selections were 98.40% and 99.73 % alternatively.

Automated tissue characterization is one of the most crucial components of a computer aided diagnosis (CAD) system for interstitial lung diseases (ILDs). Although much research has been conducted in this field, the problem remains challenging. Deep learning techniques have recently achieved impressive results in a variety of computer vision problems, raising expectations that they might be applied in other domains, such as medical image analysis. In this paper, we propose and evaluate a convolutional neural network (CNN), designed for the classification of ILD patterns. The proposed network consists of 5 convolutional layers with 2 × 2 kernels and LeakyReLU activations, followed by average pooling with size equal to the size of the final feature maps and three dense layers. The last dense layer has 7 outputs, equivalent to the classes considered: healthy, ground glass opacity (GGO), micronodules, consolidation, reticulation, honeycombing and a combination of GGO/reticulation. To train and evaluate the CNN, we used a dataset of 14696 image patches, derived by 120 CT scans from different scanners and hospitals. To the best of our knowledge, this is the first deep CNN designed for the specific problem. A comparative analysis proved the effectiveness of the proposed CNN against previous methods in a challenging dataset. The classification performance ( ~ 85.5%) demonstrated the potential of CNNs in analyzing lung patterns. Future work includes, extending the CNN to three-dimensional data provided by CT volume scans and integrating the proposed method into a CAD system that aims to provide differential diagnosis for ILDs as a supportive tool for radiologists.


Question: DeepFood: A Deep Learning-Based Method for Food Image Recognition in Computer-Aided Dietary Assessment

This paper highlights the significant enhancement in food recognition accuracy achieved by combining features extracted from a Deep Convolutional Neural Network (DCNN) with traditional hand-crafted image features, specifically Fisher Vectors with Histogram of Oriented Gradients (HoG) and color patches. Through our experiments, we have obtained a top-1 accuracy of 72.26% and a top-5 accuracy of 92.00% on the 100-class food dataset, UEC-FOOD100. This represents a substantial improvement over the previously reported best classification accuracy for this dataset, which was 59.6%. Our results underscore the effectiveness of integrating deep learning features with conventional image descriptors in the domain of food image recognition.

Several cooking support systems have been studied to give users instructions based on the recipes stepby-step, using multi-media contents. These systems usually disturb users’ cooking process forcing them to provide information to the system in order to give them beneficial information. In this sense, these systems are considered to be ”system centric”. We propose a system called ”Smart Kitchen” considered to be in ”user centric”, in which a user can cook normally without being concerned about the system. Smart Kitchen can understand cooking processes, in other words, what the user is doing. In this paper, we discuss the design of the Smart Kitchen system and explain three essential modules of tracking food, recognizing food material, and recognizing cooking action.

Caffe provides multimedia scientists and practitioners with a clean and modifiable framework for state-of-the-art deep learning algorithms and a collection of reference models. The framework is a BSD-licensed C++ library with Python and MATLAB bindings for training and deploying general-purpose convolutional neural networks and other deep models efficiently on commodity architectures. Caffe fits industry and internet-scale media needs by CUDA GPU computation, processing over 40 million images a day on a single K40 or Titan GPU (approx 2 ms per image). By separating model representation from actual implementation, Caffe allows experimentation and seamless switching among platforms for ease of development and deployment from prototyping machines to cloud environments.
 Caffe is maintained and developed by the Berkeley Vision and Learning Center (BVLC) with the help of an active community of contributors on GitHub. It powers ongoing research projects, large-scale industrial applications, and startup prototypes in vision, speech, and multimedia.

Activity recognition from smart devices and wearable sensors is an active area of research due to the widespread adoption of smart devices and the benefits it provide for supporting people in their daily lives. Many of the available datasets for fine-grained primitive activity recognition focus on locomotion or sports activities with less emphasis on real-world day-to-day behavior. This paper presents a new dataset for activity recognition in a realistic unmodified kitchen environment. Data was collected using only smart-watches from 10 lay participants while they prepared food in an unmodified rented kitchen. The paper also providing baseline performance measures for different classifiers on this dataset. Moreover, a deep feature learning system and more traditional statistical features based approaches are compared. This analysis shows that - for all evaluation criteria - data-driven feature learning allows the classifier to achieve best performance compared with hand-crafted features.

In this paper, a new method based on deep learning for robotics autonomous navigation is presented. Different from the most traditional methods based on fixed models, a convolutional neural network (CNN) modelling technique in Deep learning is selected to extract the feature inspired by the working pattern of the biological brain. This neural network model has muti-layer features where the ambient scenes can be recognized and useful information such as the location of door can be identified. The extracted information can be used for robot navigation, so does the robot can approach the target accurately. In the field experiments, detecting doors and predicting the door poses such tasks are designed in the indoor environment to verify the proposed method. The experimental results demonstrate that the doors can be identified with good performance and the deep learning model is suitable for robot navigation.

We propose a method to create process flow graphs automatically from textbooks for cooking programs. This is realized by understanding context by narrowing down the domain to cooking, and making use of domain specific constraints and knowledge. Since it is relatively easy to extract significant keywords from cooking procedures, we create a domain specific dictionary by statistical methods, and propose a structural analysis method using the dictionary. In order to evaluate the ability of the proposed method, we applied the method to actual procedures as an experiment, which showed effective results. The same experiment was also performed on a different program, which showed lower accuracy but also showed realistic results.

Deep learning is bringing breakthroughs to many computer vision subfields including Optical Music Recognition (OMR), which has seen a series of improvements to musical symbol detection achieved by using generic deep learning models. However, so far, each such proposal has been based on a specific dataset and different evaluation criteria, which made it difficult to quantify the new deep learning-based state-of-the-art and assess the relative merits of these detection models on music scores. In this paper, a baseline for general detection of musical symbols with deep learning is presented. We consider three datasets of heterogeneous typology but with the same annotation format, three neural models of different nature, and establish their performance in terms of a common evaluation standard. The experimental results confirm that the direct music object detection with deep learning is indeed promising, but at the same time illustrates some of the domain-specific shortcomings of the general detectors. A qualitative comparison then suggests avenues for OMR improvement, based both on properties of the detection model and how the datasets are defined. To the best of our knowledge, this is the first time that competing music object detection systems from the machine learning paradigm are directly compared to each other. We hope that this work will serve as a reference to measure the progress of future developments of OMR in music object detection.

In this paper, a deep learning inspired solution is proposed and developed to enable timeliness and practicality of the pre-existing ground stereo vision guidance system for flxed-wing UAVs' safe landing. Since the ground guidance prototype was restricted within applications due to its untimeliness, eventually the vision-based detection less than 15 fps (frame per second). Under such circumstances, we employ a regression based deep learning algorithm into automatic detection on the flying aircraft in the landing sequential images. The system architecture is upgraded so as to be compatible with the novel deep learning requests, and furthermore, annotated datasets are conducted to support training and testing of the regression-based learning detection algorithm. Experimental results validate that the detection attaches 100 fps or more while the localization accuracy is kept in the same level.

The ability to accurately identify human activities is essential for developing automatic rehabilitation and sports training systems. In this paper, large-scale exercise motion data obtained from a forearm-worn wearable sensor are classified with a convolutional neural network (CNN). Time-series data consisting of accelerometer and orientation measurements are formatted as images, allowing the CNN to automatically extract discriminative features. A comparative study on the effects of image formatting and different CNN architectures is also presented. The best performing configuration classifies 50 gym exercises with 92.1% accuracy.

In recent years, deep learning algorithm has been one of the most used method in machine learning. Success rate of the most popular machine learning problems has been increased by using it. In this work, we develop an eye detection method by using a deep neural network. The designed network, which is accepted as an input by Caffe, has 3 convolution layers and 3 max pooling layers. This model has been trained with 16K positive and 52K negative image patches. The last layer of the network is the classification layer which operates a softmax algorithm. The trained model has been tested with images, which were provided on FDDB and CACD datasets, and also compared with Haar eye detection algorithm. Recall value of the method is higher than the Haar algorithm on the two datasets. However, according to the precision rate, the Haar algorithm is successful on FDDB dataset.

Recently, there has been a flurry of industrial activity around logo recognition, such as Ditto’s service for marketers to track their brands in user-generated images, and LogoGrab’s mobile app platform for logo recognition. However, relatively little academic or open-source logo recognition progress has been made in the last four years. Meanwhile, deep convolutional neural networks (DCNNs) have revolutionized a broad range of object recognition applications. In this work, we apply DCNNs to logo recognition. We propose several DCNN architectures, with which we surpass published state-of-art accuracy on a popular logo recognition dataset.


Question: Applying the principle of maximum causal entropy to model goal-directed adaptive behavior.

This paper presents an innovative approach for detecting activities within a home environment, utilizing a network of compact, state-change sensors designed for easy and widespread deployment. These sensors, intended to be unobtrusive and user-friendly, can be swiftly installed in various household settings without requiring significant setup or maintenance. The proposed system offers a less invasive alternative to conventional monitoring technologies, such as cameras and microphones, which may be perceived as intrusive by some individuals. A key distinction of this work is its real-world application, having been tested in several non-researcher occupied homes. Initial findings, based on a limited dataset, indicate that the system is capable of accurately identifying critical daily activities, including toileting, bathing, and grooming, with detection rates spanning from 25% to 89%. The variability in accuracy is contingent upon the specific evaluation metrics applied, showcasing the system's potential for medical surveillance and personalized health monitoring.

In this article, we work towards the goal of developing agents that can learn to act in complex worlds. We develop a probabilistic, relational planning rule representation that compactly models noisy, nondeterministic action effects, and show how such rules can be effectively learned. Through experiments in simple planning domains and a 3D simulated blocks world with realistic physics, we demonstrate that this learning algorithm allows agents to effectively model world dynamics.

Consciousness poses two main problems. The first is understanding the conditions that determine to what extent a system has conscious experience. For instance, why is our consciousness generated by certain parts of our brain, such as the thalamocortical system, and not by other parts, such as the cerebellum? And why are we conscious during wakefulness and much less so during dreamless sleep? The second problem is understanding the conditions that determine what kind of consciousness a system has. For example, why do specific parts of the brain contribute specific qualities to our conscious experience, such as vision and audition? This paper presents a theory about what consciousness is and how it can be measured. According to the theory, consciousness corresponds to the capacity of a system to integrate information. This claim is motivated by two key phenomenological properties of consciousness: differentiation – the availability of a very large number of conscious experiences; and integration – the unity of each such experience. The theory states that the quantity of consciousness available to a system can be measured as the Φ value of a complex of elements. Φ is the amount of causally effective information that can be integrated across the informational weakest link of a subset of elements. A complex is a subset of elements with Φ>0 that is not part of a subset of higher Φ. The theory also claims that the quality of consciousness is determined by the informational relationships among the elements of a complex, which are specified by the values of effective information among them. Finally, each particular conscious experience is specified by the value, at any given time, of the variables mediating informational interactions among the elements of a complex. The information integration theory accounts, in a principled manner, for several neurobiological observations concerning consciousness. As shown here, these include the association of consciousness with certain neural systems rather than with others; the fact that neural processes underlying consciousness can influence or be influenced by neural processes that remain unconscious; the reduction of consciousness during dreamless sleep and generalized seizures; and the time requirements on neural interactions that support consciousness. The theory entails that consciousness is a fundamental quantity, that it is graded, that it is present in infants and animals, and that it should be possible to build conscious artifacts.

A broad range of neural and behavioral data suggests that the brain contains multiple systems for behavioral choice, including one associated with prefrontal cortex and another with dorsolateral striatum. However, such a surfeit of control raises an additional choice problem: how to arbitrate between the systems when they disagree. Here, we consider dual-action choice systems from a normative perspective, using the computational theory of reinforcement learning. We identify a key trade-off pitting computational simplicity against the flexible and statistically efficient use of experience. The trade-off is realized in a competition between the dorsolateral striatal and prefrontal systems. We suggest a Bayesian principle of arbitration between them according to uncertainty, so each controller is deployed when it should be most accurate. This provides a unifying account of a wealth of experimental evidence about the factors favoring dominance by either system.

Autonomous or semi-autonomous systems are deployed in environments where contact with programmers or technicians is infrequent or undesirable. To operate reliably, such systems should be able to adapt to new circumstances on their own. This paper describes our combined approach for adaptable software architecture and task synthesis from high-level goals, which is based on a three-layer model. In the uppermost layer, reactive plans are generated from goals expressed in a temporal logic. The middle layer is responsible for plan execution and assembling a configuration of domain-specific software components, which reside in the lowest layer. Moreover, the middle layer is responsible for selecting alternative components when the current configuration is no longer viable for the circumstances that have arisen. The implementation demonstrates that the approach enables us to handle non-determinism in the environment and unexpected failures in software components.

The most exciting hypothesis in cognitive science right now is the theory that cognition is embodied. Like all good ideas in cognitive science, however, embodiment immediately came to mean six different things. The most common definitions involve the straight-forward claim that "states of the body modify states of the mind." However, the implications of embodiment are actually much more radical than this. If cognition can span the brain, body, and the environment, then the "states of mind" of disembodied cognitive science won't exist to be modified. Cognition will instead be an extended system assembled from a broad array of resources. Taking embodiment seriously therefore requires both new methods and theory. Here we outline four key steps that research programs should follow in order to fully engage with the implications of embodiment. The first step is to conduct a task analysis, which characterizes from a first person perspective the specific task that a perceiving-acting cognitive agent is faced with. The second step is to identify the task-relevant resources the agent has access to in order to solve the task. These resources can span brain, body, and environment. The third step is to identify how the agent can assemble these resources into a system capable of solving the problem at hand. The last step is to test the agent's performance to confirm that agent is actually using the solution identified in step 3. We explore these steps in more detail with reference to two useful examples (the outfielder problem and the A-not-B error), and introduce how to apply this analysis to the thorny question of language use. Embodied cognition is more than we think it is, and we have the tools we need to realize its full potential.

This survey presents an overview of the autonomous development of mental capabilities in computational agents. It does so based on a characterization of cognitive systems as systems which exhibit adaptive, anticipatory, and purposive goal-directed behavior. We present a broad survey of the various paradigms of cognition, addressing cognitivist (physical symbol systems) approaches, emergent systems approaches, encompassing connectionist, dynamical, and enactive systems, and also efforts to combine the two in hybrid systems. We then review several cognitive architectures drawn from these paradigms. In each of these areas, we highlight the implications and attendant problems of adopting a developmental approach, both from phylogenetic and ontogenetic points of view. We conclude with a summary of the key architectural features that systems capable of autonomous development of mental capabilities should exhibit

What was noted by E. J. hanger (1978) remains true today: that much of contemporary psychological research is based on the assumption that people are consciously and systematically processing incoming information in order to construe and interpret their world and to plan and engage in courses of action. As did E. J. hanger, the authors question this assumption. First, they review evidence that the ability to exercise such conscious, intentional control is actually quite limited, so that most of moment-to-moment psychological life must occur through nonconscious means if it is to occur at all. The authors then describe the different possible mechanisms that produce automatic, environmental control over these various phenomena and review evidence establishing both the existence of these mechanisms as well as their consequences for judgments, emotions, and behavior. Three major forms of automatic self-regulation are identified: an automatic effect of perception on action, automatic goal pursuit, and a continual automatic evaluation of one's experience. From the accumulating evidence, the authors conclude that these various nonconscious mental systems perform the lion's share of the self-regulatory burden, beneficently keeping the individual grounded in his or her current environment.

Human agents draw a variety of inferences effortlessly, spontaneously, and with remarkable efficiency — as though these inferences are a reflex response of their cognitive apparatus. Furthermore, these inferences are drawn with reference to a large body of background knowledge. This remarkable human ability seems paradoxical given the results about the complexity of reasoning reported by researchers in artificial intelligence. It also poses a challenge for cognitive science and computational neuroscience: How can a system of simple and slow neuron-like elements represent a large body of systematic knowledge and perform a range of inferences with such speed? We describe a computational model that is a step toward addressing the cognitive science challenge and resolving the artificial intelligence paradox. We show how a connectionist network can encode millions of facts and rules involving n-ary predicates and variables, and perform a class of inferences in a few hundred msec. Efficient reasoning requires the rapid representation and propagation of dynamic bindings. Our model achieves this by i) representing dynamic bindings as the synchronous firing of appropriate nodes, ii) rules as interconnection patterns that direct the propagation of rhythmic activity, iii) and long-term facts as temporal pattern-matching sub-networks. The model is consistent with recent neurophysiological findings which suggest that synchronous activity occurs in the brain and may play a representational role in neural information processing. The model also makes specific predictions about the nature of reflexive reasoning that are psychologically significant. It identifies constraints on the form of rules that may participate in such reasoning and relates the capacity of the working memory underlying reflexive reasoning to biological parameters such as the lowest frequency at which nodes can sustain synchronous oscillations and the coarseness of synchronization.

The Achilles Heel of stochastic optimization algorithms is getting trapped on local optima. Novelty Search avoids this problem by encouraging a search in all interesting directions. That occurs by replacing a performance objective with a reward for novel behaviors, as defined by a human-crafted, and often simple, behavioral distance function. While Novelty Search is a major conceptual breakthrough and outperforms traditional stochastic optimization on certain problems, it is not clear how to apply it to challenging, high-dimensional problems where specifying a useful behavioral distance function is difficult. For example, in the space of images, how do you encourage novelty to produce hawks and heroes instead of endless pixel static? Here we propose a new algorithm, the Innovation Engine, that builds on Novelty Search by replacing the human-crafted behavioral distance with a Deep Neural Network (DNN) that can recognize interesting differences between phenotypes. The key insight is that DNNs can recognize similarities and differences between phenotypes at an abstract level, wherein novelty means interesting novelty. For example, a novelty pressure in image space does not explore in the low-level pixel space, but instead creates a pressure to create new types of images (e.g. churches, mosques, obelisks, etc.). Here we describe the long-term vision for the Innovation Engine algorithm, which involves many technical challenges that remain to be solved. We then implement a simplified version of the algorithm that enables us to explore some of the algorithm's key motivations. Our initial results, in the domain of images, suggest that Innovation Engines could ultimately automate the production of endless streams of interesting solutions in any domain: e.g. producing intelligent software, robot controllers, optimized physical components, and art.

To perform nontrivial, real-time computations on a sensory input stream, biological systems must retain a short-term memory trace of their recent inputs. It has been proposed that generic high-dimensional dynamical systems could retain a memory trace for past inputs in their current state. This raises important questions about the fundamental limits of such memory traces and the properties required of dynamical systems to achieve these limits. We address these issues by applying Fisher information theory to dynamical systems driven by time-dependent signals corrupted by noise. We introduce the Fisher Memory Curve (FMC) as a measure of the signal-to-noise ratio (SNR) embedded in the dynamical state relative to the input SNR. The integrated FMC indicates the total memory capacity. We apply this theory to linear neuronal networks and show that the capacity of networks with normal connectivity matrices is exactly 1 and that of any network of N neurons is, at most, N. A nonnormal network achieving this bound is subject to stringent design constraints: It must have a hidden feedforward architecture that superlinearly amplifies its input for a time of order N, and the input connectivity must optimally match this architecture. The memory capacity of networks subject to saturating nonlinearities is further limited, and cannot exceed square root N. This limit can be realized by feedforward structures with divergent fan out that distributes the signal across neurons, thereby avoiding saturation. We illustrate the generality of the theory by showing that memory in fluid systems can be sustained by transient nonnormal amplification due to convective instability or the onset of turbulence.


Question: Applying the principle of maximum causal entropy to model goal-directed adaptive behavior.

In the context of bidirectional information exchange, consider a scenario involving a dual-channel communication system. Let us denote X1 as the input at terminal one, with Y1 representing the resultant output, and similarly, X2 as the input at terminal two, with Y2 as its corresponding output. Every second, new inputs, X1 and X2, are selected from their respective input alphabets and fed into the channel; subsequently, outputs Y1 and Y2 can be observed. The statistical relationship between outputs and inputs may be influenced by past inputs and outputs if the channel exhibits memory. The primary challenge is to optimize communication in both directions through the channel. Specifically, our objective is to ascertain the feasible pairs of signaling rates, R1 and R2, for each direction that can be achieved with negligible error probabilities, thereby enabling efficient bidirectional data transmission.

We desribe a variation of the planning domain definition language, PDDL, that permits the modeling of probabilistic planning problems with rewards. This language, PPDDL1.0, was used as the input language for the probabilistic track of the 4th International Planning Competition. We provide the complete syntax for PPDDL1.0 and give a semantics of PPDDL1.0 planning problems in terms of Markov decision processes. Department of Computer Science, Rutgers University, Piscataway, NJ 08854, USA

We consider the problem of imitation learning where the examples, demonstrated by an expert, cover only a small part of a large state space. Inverse Reinforcement Learning (IRL) provides an efficient tool for generalizing the demonstration, based on the assumption that the expert is optimally acting in a Markov Decision Process (MDP). Most of the past work on IRL requires that a (near)optimal policy can be computed for different reward functions. However, this requirement can hardly be satisfied in systems with a large, or continuous, state space. In this paper, we propose a model-free IRL algorithm, where the relative entropy between the empirical distribution of the state-action trajectories under a uniform policy and their distribution under the learned policy is minimized by stochastic gradient descent. We compare this new approach to well-known IRL algorithms using approximate MDP models. Empirical results on simulated car racing, gridworld and ball-in-a-cup problems show that our approach is able to learn good policies from a small number of demonstrations.

Inspired by the information theoretic idea of minimum description length, we add a term to the back propagation cost function that penalizes network complexity. We give the details of the procedure, called weight-elimination, describe its dynamics, and clarify the meaning of the parameters involved. From a Bayesian perspective, the complexity term can be usefully interpreted as an assumption about prior distribution of the weights. We use this procedure to predict the sunspot time series and the notoriously noisy series of currency exchange rates.

In this paper we bring techniques from operations research to bear on the problem of choosing optimal actions in partially observable stochastic domains We begin by introducing the theory of Markov decision processes mdps and partially observable mdps pomdps We then outline a novel algorithm for solving pomdps o line and show how in some cases a nite memory controller can be extracted from the solution to a pomdp We conclude with a discussion of how our approach relates to previous work the complexity of nding exact solutions to pomdps and of some possibilities for nding approximate solutions

We address the task of inferring the future actions of people from noisy visual input. We denote this task activity forecasting. To achieve accurate activity forecasting, our approach models the effect of the physical environment on the choice of human actions. This is accomplished by the use of state-of-the-art semantic scene understanding combined with ideas from optimal control theory. Our unified model also integrates several other key elements of activity analysis, namely, destination forecasting, sequence smoothing and transfer learning. As proof-of-concept, we focus on the domain of trajectory-based activity analysis from visual input. Experimental results demonstrate that our model accurately predicts distributions over future actions of individuals. We show how the same techniques can improve the results of tracking algorithms by leveraging information about likely goals and trajectories.

In this chapter, we argue that a single intrinsic motivation function for affordance discovery can guide long-term learning in robot systems. To these ends, we provide a novel definition of “affordance” as the latent potential for the closed-loop control of environmental stimuli perceived by sensors. Specifically, the proposed intrinsic motivation function rewards the discovery of such control affordances. We will demonstrate how this function has been used by a humanoid robot to learn a number of general purpose control skills that address many different tasks. These skills, for example, include strategies for finding, grasping, and placing simple objects. We further show how this same intrinsic reward function is used to direct the robot to build stable models of when the environment affords these skills.

Independent causal mechanisms are a central concept in the study of causality with implications for machine learning tasks. In this work we develop an algorithm to recover a set of (inverse) independent mechanisms relating a distribution transformed by the mechanisms to a reference distribution. The approach is fully unsupervised and based on a set of experts that compete for data to specialize and extract the mechanisms. We test and analyze the proposed method on a series of experiments based on image transformations. Each expert successfully maps a subset of the transformed data to the original domain, and the learned mechanisms generalize to other domains. We discuss implications for domain transfer and links to recent trends in generative modeling.

A central problem in artificial intelligence is that of planning to maximize future reward under uncertainty in a partially observable environment. In this paper we propose and demonstrate a novel algorithm which accurately learns a model of such an environment directly from sequences of action-observation pairs. We then close the loop from observations to actions by planning in the learned model and recovering a policy which is near-optimal in the original environment. Specifically, we present an efficient and statistically consistent spectral algorithm for learning the parameters of a Predictive State Representation (PSR). We demonstrate the algorithm by learning a model of a simulated high-dimensional, vision-based mobile robot planning task, and then perform approximate point-based planning in the learned PSR. Analysis of our results shows that the algorithm learns a state space which efficiently captures the essential features of the environment. This representation allows accurate prediction with a small number of parameters, and enables successful and efficient planning.

We present algorithms for coupling and training hidden Markov models ( HMMs) to model interacting processes, and demonstrate their superiority to conventional HMMs in a vision task classifying two-handed actions. HMMs are perhaps the most successful framework in perceptual computing for modeling and classifying dynamic behaviors, popular because they offer dynamic time warping, a training algorithm, and a clear Bayesian semantics. However, the Markovian framework makes strong restrictive assumptions about the system generating the signal—that it is a single process having a small number of states and an extremely limited state memory. The single-process model is often inappropriate for vision (and speech) applications, resulting in low ceilings on model performance. Coupled HMMs provide an efficient way to resolve many of these problems, and offer superior training speeds, model likelihoods, and robustness to initial conditions.

We present a novel approach for determining robot movements that efficiently accomplish the robot's tasks while not hindering the movements of people within the environment. Our approach models the goal-directed trajectories of pedestrians using maximum entropy inverse optimal control. The advantage of this modeling approach is the generality of its learned cost function to changes in the environment and to entirely different environments. We employ the predictions of this model of pedestrian trajectories in a novel incremental planner and quantitatively show the improvement in hindrance-sensitive robot trajectory planning provided by our approach.


Question: Applying the principle of maximum causal entropy to model intentional adaptive behavior.

This paper introduces a novel technique for learning sequential, goal-directed behaviors through the lens of maximum margin structured prediction. Traditional imitation learning, which typically relies on supervised methods, can struggle with such behaviors due to their complexity. To address this challenge, we propose to learn the mapping from features to cost functions within a maximum margin framework, aiming to find a policy that closely replicates the expert's actions in a Markov Decision Process (MDP) setting. Our method not only facilitates the learning of optimal policies but also introduces an efficient structured maximum margin learning algorithm based on the subgradient method. This approach effectively utilizes existing algorithms for fast inference, making it particularly suitable for problems where A* and dynamic programming methods can render policy learning tractable, beyond the limitations of a quadratic programming formulation. We showcase the application of our technique in route planning for outdoor mobile robots, where defining desired behaviors is relatively straightforward, but specifying the cost functions that lead to such behaviors can be significantly more complex. Our method provides a powerful tool for automating this process, thereby simplifying the task of creating effective robotic planners.

This chapter surveys the development of graphical models known as Bayesian networks, summarizes their semantical basis and assesses their properties and applications to reasoning and planning. Bayesian networks are directed acyclic graphs (DAGs) in which the nodes represent variables of interest (e.g., the temperature of a device, the gender of a patient, a feature of an object, the occurrence of an event) and the links represent causal influences among the variables. The strength of an influence is represented by conditional probabilities that are attached to each cluster of parents-child nodes in the network. Figure 1 illustrates a simple yet typical Bayesian network. It describes the causal relationships among the season of the year (X1), whether rain falls (X2) during the season, whether the sprinkler is on (X3) during that season, whether the pavement would get wet (X4), and whether the pavement would be slippery (X5). All variables in this figure are binary, taking a value of either true or false, except the root variable X1 which can take one of four values: Spring, Summer, Fall, or Winter. Here, the absence of a direct link between X1 and X5, for example, captures our understanding that the influence of seasonal variations on the slipperiness of the pavement is mediated by other conditions (e.g., the wetness of the pavement). As this example illustrates, a Bayesian network constitutes a model of the environment rather than, as in many other knowledge representation schemes (e.g., logic, rule-based systems and neural networks), a model of the reasoning process. It simulates, in fact, the causal mechanisms that operate in the environment, and thus allows the investigator to answer a variety of queries, including: associational queries, such as “Having observed A, what can we expect of B?”; abductive queries, such as “What is the most plausible explanation for a given set of observations?”; and control queries; such as “What will happen if we intervene and act on the environment?” Answers to the first type of query depend only on probabilistic

This letter offers a computational account of Pavlovian conditioning in the cerebellum based on active inference and predictive coding. Using eyeblink conditioning as a canonical paradigm, we formulate a minimal generative model that can account for spontaneous blinking, startle responses, and (delay or trace) conditioning. We then establish the face validity of the model using simulated responses to unconditioned and conditioned stimuli to reproduce the sorts of behavior that are observed empirically. The scheme’s anatomical validity is then addressed by associating variables in the predictive coding scheme with nuclei and neuronal populations to match the (extrinsic and intrinsic) connectivity of the cerebellar (eyeblink conditioning) system. Finally, we try to establish predictive validity by reproducing selective failures of delay conditioning, trace conditioning, and extinction using (simulated and reversible) focal lesions. Although rather metaphorical, the ensuing scheme can account for a remarkable range of anatomical and neurophysiological aspects of cerebellar circuitry—and the specificity of lesion-deficit mappings that have been established experimentally. From a computational perspective, this work shows how conditioning or learning can be formulated in terms of minimizing variational free energy (or maximizing Bayesian model evidence) using exactly the same principles that underlie predictive coding in perception.

We consider the semi-supervised learning problem, where a decision rule is to be learned from labeled and unlabeled data. In this framework, we motivate minimum entropy regularization, which enables to incorporate unlabeled data in the standard supervised learning. Our approach includes other approaches to the semi-supervised problem as particular or limiting cases. A series of experiments illustrates that the proposed solutions benefit from unlabeled data. The method challenges mixture models when the data are sampled from the distribution class spanned by the generative model. The performances are definitely in favor of minimum entropy regularization when generative models are misspecified, and the weighting of unlabeled data provides robustness to the violation of the “cluster assumption”. Finally, we also illustrate that the method can also be far superior to manifold learning in high dimension spaces.

We cast the partially observable control problem as a fully observable underactuated stochastic control problem in belief space and apply standard planning and control techniques. One of the difficulties of belief space planning is modeling the stochastic dynamics resulting from unknown future observations . The core of our proposal is to define deterministic beliefsystem dynamics based on an assumption that the maximum likelihood observation (calculated just prior to the observation) is always obtained. The stochastic effects of future observation s are modeled as Gaussian noise. Given this model of the dynamics, two planning and control methods are applied. In the first, linear quadratic regulation (LQR) is applied to generate policies in the belief space. This approach is shown to be optimal for linearGaussian systems. In the second, a planner is used to find locally optimal plans in the belief space. We propose a replanning approach that is shown to converge to the belief space goal in a finite number of replanning steps. These approaches are characterized in the context of a simple nonlinear manipulation problem where a planar robot simultaneously locates and grasps an object.

We define predictive information Ipred(T) as the mutual information between the past and the future of a time series. Three qualitatively different behaviors are found in the limit of large observation times T: Ipred(T) can remain finite, grow logarithmically, or grow as a fractional power law. If the time series allows us to learn a model with a finite number of parameters, then Ipred(T) grows logarithmically with a coefficient that counts the dimensionality of the model space. In contrast, power-law growth is associated, for example, with the learning of infinite parameter (or non-parametric) models such as continuous functions with smoothness constraints. There are connections between the predictive information and measures of complexity that have been defined both in learning theory and the analysis of physical systems through statistical mechanics and dynamical systems theory. Furthermore, in the same way that entropy provides the unique measure of available information consistent with some simple and plausible conditions, we argue that the divergent part of Ipred(T) provides the unique measure for the complexity of dynamics underlying a time series. Finally, we discuss how these ideas may be useful in problems in physics, statistics, and biology.

It is shown how a system consisting of two neuronlike adaptive elements can solve a difficult learning control problem. The task is to balance a pole that is hinged to a movable cart by applying forces to the cart's base. It is argued that the learning problems faced by adaptive elements that are components of adaptive networks are at least as difficult as this version of the pole-balancing problem. The learning system consists of a single associative search element (ASE) and a single adaptive critic element (ACE). In the course of learning to balance the pole, the ASE constructs associations between input and output by searching under the influence of reinforcement feedback, and the ACE constructs a more informative evaluation function than reinforcement feedback alone can provide. The differences between this approach and other attempts to solve problems using neurolike elements are discussed, as is the relation of this work to classical and instrumental conditioning in animal learning studies and its possible implications for research in the neurosciences.

Intelligent agents must be able to handle the complexity and uncertainty of the real world. Logical AI has focused mainly on the former, and statistical AI on the latter. Markov logic combines the two by attaching weights to first-order formulas and viewing them as templates for features of Markov networks. Inference algorithms for Markov logic draw on ideas from satisfiability, Markov chain Monte Carlo and knowledge-based model construction. Learning algorithms are based on the voted perceptron, pseudo-likelihood and inductive logic programming. Markov logic has been successfully applied to a wide variety of problems in natural language understanding, vision, computational biology, social networks and others, and is the basis of the open-source Alchemy system.

Information theory has recently been employed to specify more precisely than has hitherto been possible man's capacity in certain sensory, perceptual, and perceptual-motor functions (5, 10, 13, 15, 17, 18). The experiments reported in the present paper extend the theory to the human motor system. The applicability of only the basic concepts, amount of information, noise, channel capacity, and rate of information transmission, will be examined at this time. General familiarity with these concepts as formulated by recent writers (4,11, 20, 22) is assumed. Strictly speaking, we cannot study man's motor system at the behavioral level in isolation from its associated sensory mechanisms. We can only analyze the behavior of the entire receptor-neural-effector system. How-

Exploration is a difficult challenge in reinforcement learning and is of prime importance in sparse reward environments. However, many of the state of the art deep reinforcement learning algorithms, that reply on epsilon-greedy exploration, fail on these environments. In such environments, empowerment can serve as an intrinsic reward signal to enable the agent to explore by maximizing the influence it has over the near future. We formulate empowerment as the channel capacity between actions and states and is calculated by estimating the mutual information between the actions and the following states. The mutual information is estimated using a Mutual Information Neural Estimator and a forward dynamics model. We demonstrate that an empowerment driven agent is able to improve significantly the score of a baseline DQN agent on the game of Montezuma’s Revenge.

New applications for autonomous robots bring them into the human environment where they are to serve as helpful assistants to untrained users in the home or office, or work as capable members of human-robot teams for security, military, and space efforts. These applications require robots to be able to quickly learn how to perform new tasks from natural human instruction, and to perform tasks collaboratively with human teammates. Using joint intention theory as our theoretical framework, our approach integrates learning and collaboration through a goal based task structure. Specifically, we use collaborative discourse with accompanying gestures and social cues to teach a humanoid robot a structurally complex task. Having learned the representation for the task, the robot then performs it shoulder-to-shoulder with a human partner, using social communication acts to dynamically mesh its plans with those of its partner, according to the relative capabilities of the human and the robot.


Question: Applying the principle of maximum causal entropy to model deliberate adaptive behavior.

This paper explores a learning framework in a Markov decision process (MDP) where the learner is not provided with a direct reward function but has access to expert demonstrations of the desired task. This scenario is particularly applicable in tasks where defining a precise reward function that balances various objectives is challenging, such as driving. The expert is assumed to be optimizing an unknown reward function that can be represented as a linear combination of given features. The paper proposes an algorithm for learning the task from the expert's demonstrations, focusing on the use of inverse reinforcement learning (IRL) to approximate the hidden reward function. The algorithm is designed to converge in a limited number of iterations and, although it may not fully recover the expert's true reward function, it ensures that the learned policy achieves performance close to that of the expert, measured in terms of the expert's reward function. This approach offers a practical solution for learning complex tasks where specifying a reward function is non-trivial.

With the increasing dependence on autonomous operating agents and robots the need for ethical machine behavior rises. This paper presents a moral reasoner that combines connectionism, utilitarianism and ethical theory about moral duties. The moral decision-making matches the analysis of expert ethicists in the health domain. This may be useful in many applications, especially where machines interact with humans in a medical context. Additionally, when connected to a cognitive model of emotional intelligence and affective decision making, it can be explored how moral decision making impacts affective behavior.

We define predictive information Ipred(T) as the mutual information between the past and the future of a time series. Three qualitatively different behaviors are found in the limit of large observation times T: Ipred(T) can remain finite, grow logarithmically, or grow as a fractional power law. If the time series allows us to learn a model with a finite number of parameters, then Ipred(T) grows logarithmically with a coefficient that counts the dimensionality of the model space. In contrast, power-law growth is associated, for example, with the learning of infinite parameter (or non-parametric) models such as continuous functions with smoothness constraints. There are connections between the predictive information and measures of complexity that have been defined both in learning theory and the analysis of physical systems through statistical mechanics and dynamical systems theory. Furthermore, in the same way that entropy provides the unique measure of available information consistent with some simple and plausible conditions, we argue that the divergent part of Ipred(T) provides the unique measure for the complexity of dynamics underlying a time series. Finally, we discuss how these ideas may be useful in problems in physics, statistics, and biology.

The main prospective aim of modern research related to Artificial Intelligence is the creation of technical systems that implement the idea of Strong Intelligence. According our point of view the path to the development of such systems comes through the research in the field related to perceptions. Here we formulate the model of the perception of external world which may be used for the description of perceptual activity of intelligent beings. We consider a number of issues related to the development of the set of patterns which will be used by the intelligent system when interacting with environment. The key idea of the presented perception model is the idea of subjective reality. The principle of the relativity of perceived world is formulated. It is shown that this principle is the immediate consequence of the idea of subjective reality. In this paper we show how the methodology of subjective reality may be used for the creation of different types of Strong AI systems.

Reasoning is generally seen as a means to improve knowledge and make better decisions. However, much evidence shows that reasoning often leads to epistemic distortions and poor decisions. This suggests that the function of reasoning should be rethought. Our hypothesis is that the function of reasoning is argumentative. It is to devise and evaluate arguments intended to persuade. Reasoning so conceived is adaptive given the exceptional dependence of humans on communication and their vulnerability to misinformation. A wide range of evidence in the psychology of reasoning and decision making can be reinterpreted and better explained in the light of this hypothesis. Poor performance in standard reasoning tasks is explained by the lack of argumentative context. When the same problems are placed in a proper argumentative setting, people turn out to be skilled arguers. Skilled arguers, however, are not after the truth but after arguments supporting their views. This explains the notorious confirmation bias. This bias is apparent not only when people are actually arguing, but also when they are reasoning proactively from the perspective of having to defend their opinions. Reasoning so motivated can distort evaluations and attitudes and allow erroneous beliefs to persist. Proactively used reasoning also favors decisions that are easy to justify but not necessarily better. In all these instances traditionally described as failures or flaws, reasoning does exactly what can be expected of an argumentative device: Look for arguments that support a given conclusion, and, ceteris paribus, favor conclusions for which arguments can be found.

Three Bayesian ideas are presented for supervised adaptive classifiers. First, it is argued that the output of a classifier should be obtained by marginalizing over the posterior distribution of the parameters; a simple approximation to this integral is proposed and demonstrated. This involves a "moderation" of the most probable classifier's outputs, and yields improved performance. Second, it is demonstrated that the Bayesian framework for model comparison described for regression models in MacKay (1992a,b) can also be applied to classification problems. This framework successfully chooses the magnitude of weight decay terms, and ranks solutions found using different numbers of hidden units. Third, an information-based data selection criterion is derived and demonstrated within this framework.

Programming robot behavior remains a challenging task. While it is often easy to abstractly define or even demonstrate a desired behavior, designing a controller that embodies the same behavior is difficult, time consuming, and ultimately expensive. The machine learning paradigm offers the promise of enabling “programming by demonstration” for developing high-performance robotic systems. Unfortunately, many “behavioral cloning” (Bain & Sammut, 1995; Pomerleau, 1989; LeCun et al., 2006) approaches that utilize classical tools of supervised learning (e.g. decision trees, neural networks, or support vector machines) do not fit the needs of modern robotic systems. These systems are often built atop sophisticated planning algorithms that efficiently reason far into the future; consequently, ignoring these planning algorithms in lieu of a supervised learning approach often leads to myopic and poor-quality robot performance. While planning algorithms have shown success in many real-world applications ranging from legged locomotion (Chestnutt et al., 2003) to outdoor unstructured navigation (Kelly et al., 2004; Stentz, 2009), such algorithms rely on fully specified cost functions that map sensor readings and environment models to quantifiable costs. Such cost functions are usually manually designed and programmed. Recently, a set of techniques has been developed that explore learning these functions from expert human demonstration. These algorithms apply an inverse optimal control approach to find a cost function for which planned behavior mimics an expert’s demonstration. The work we present extends the Maximum Margin Planning (MMP) (Ratliff et al., 2006a) framework to admit learning of more powerful, non-linear cost functions. These algorithms, known collectively as LEARCH (LEArning to seaRCH ), are simpler to implement than most existing methods, more efficient than previous attempts at non-linearization (Ratliff et al., 2006b), more naturally satisfy common constraints on the cost function, and better represent our prior beliefs about the function’s form. We derive and discuss the framework both mathematically and intuitively, and demonstrate practical realworld performance with three applied case-studies including legged locomotion, grasp planning, and autonomous outdoor unstructured navigation. The latter study includes hundreds of kilometers of autonomous traversal through complex natural environments. These case-studies address key challenges in applying the algorithm in practical settings that utilize state-of-the-art planners, and which may be constrained by efficiency requirements and imperfect expert demonstration.

In this study we analyze the travel patterns of 500,000 individuals in Cote d'Ivoire using mobile phone call data records. By measuring the uncertainties of movements using entropy, considering both the frequencies and temporal correlations of individual trajectories, we find that the theoretical maximum predictability is as high as 88%. To verify whether such a theoretical limit can be approached, we implement a series of Markov chain (MC) based models to predict the actual locations visited by each user. Results show that MC models can produce a prediction accuracy of 87% for stationary trajectories and 95% for non-stationary trajectories. Our findings indicate that human mobility is highly dependent on historical behaviors, and that the maximum predictability is not only a fundamental theoretical limit for potential predictive power, but also an approachable target for actual prediction accuracy.

A learner’s modifiable components are called its policy. An algorithm that modifies the policy is a learning algorithm. If the learning algorithm has modifiable components represented as part of the policy, then we speak of a self-modifying policy (SMP). SMPs can modify the way they modify themselves etc. They are of interest in situations where the initial learning algorithm itself can be improved by experience — this is what we call “learning to learn”. How can we force some (stochastic) SMP to trigger better and better self-modifications? The success-story algorithm (SSA) addresses this question in a lifelong reinforcement learning context. During the learner’s life-time, SSA is occasionally called at times computed according to SMP itself. SSA uses backtracking to undo those SMP-generated SMP-modifications that have not been empirically observed to trigger lifelong reward accelerations (measured up until the current SSA call — this evaluates the long-term effects of SMP-modifications setting the stage for later SMP-modifications). SMP-modifications that survive SSA represent a lifelong success history. Until the next SSA call, they build the basis for additional SMP-modifications. Solely by self-modifications our SMP/SSA-based learners solve a complex task in a partially observable environment (POE) whose state space is far bigger than most reported in the POE literature.

The frontal lobes are essential for human volition and goal-directed behavior, yet their function remains unclear. While various models have highlighted working memory, reinforcement learning, and cognitive control as key functions, a single framework for interpreting the range of effects observed in prefrontal cortex has yet to emerge. Here we show that a simple computational motif based on predictive coding can be stacked hierarchically to learn and perform arbitrarily complex goal-directed behavior. The resulting Hierarchical Error Representation (HER) model simulates a wide array of findings from fMRI, ERP, single-units, and neuropsychological studies of both lateral and medial prefrontal cortex. By reconceptualizing lateral prefrontal activity as anticipating prediction errors, the HER model provides a novel unifying account of prefrontal cortex function with broad implications for understanding the frontal cortex across multiple levels of description, from the level of single neurons to behavior.

The authors outline a cognitive and computational account of causal learning in children. They propose that children use specialized cognitive systems that allow them to recover an accurate "causal map" of the world: an abstract, coherent, learned representation of the causal relations among events. This kind of knowledge can be perspicuously understood in terms of the formalism of directed graphical causal models, or Bayes nets. Children's causal learning and inference may involve computations similar to those for learning causal Bayes nets and for predicting with them. Experimental results suggest that 2- to 4-year-old children construct new causal maps and that their learning is consistent with the Bayes net formalism.