Noel O'Connor

Mayug Maniparambil, Kevin McGuinness, Noel O'Connor

Few shot classification aims to learn to recognize novel categories using only limited samples per category. Most current few shot methods use a base dataset rich in labeled examples to train an encoder that is used for obtaining representations of support instances for novel classes. Since the test instances are from a distribution different to the base distribution, their feature representations are of poor quality, degrading performance. In this paper we propose to make use of the well-trained feature representations of the base dataset that are closest to each support instance to improve its representation during meta-test time. To this end, we propose BaseTransformers, that attends to the most relevant regions of the base dataset feature space and improves support instance representations. Experiments on three benchmark data sets show that our method works well for several backbones and achieves state-of-the-art results in the inductive one shot setting. Code is available at github.com/mayug/BaseTransformers

Qiang Wang, Francisco Roldan Sanchez, Robert McCarthy et al.

This paper describes a deep reinforcement learning (DRL) approach that won Phase 1 of the Real Robot Challenge (RRC) 2021, and then extends this method to a more difficult manipulation task. The RRC consisted of using a TriFinger robot to manipulate a cube along a specified positional trajectory, but with no requirement for the cube to have any specific orientation. We used a relatively simple reward function, a combination of goal-based sparse reward and distance reward, in conjunction with Hindsight Experience Replay (HER) to guide the learning of the DRL agent (Deep Deterministic Policy Gradient (DDPG)). Our approach allowed our agents to acquire dexterous robotic manipulation strategies in simulation. These strategies were then applied to the real robot and outperformed all other competition submissions, including those using more traditional robotic control techniques, in the final evaluation stage of the RRC. Here we extend this method, by modifying the task of Phase 1 of the RRC to require the robot to maintain the cube in a particular orientation, while the cube is moved along the required positional trajectory. The requirement to also orient the cube makes the agent unable to learn the task through blind exploration due to increased problem complexity. To circumvent this issue, we make novel use of a Knowledge Transfer (KT) technique that allows the strategies learned by the agent in the original task (which was agnostic to cube orientation) to be transferred to this task (where orientation matters). KT allowed the agent to learn and perform the extended task in the simulator, which improved the average positional deviation from 0.134 m to 0.02 m, and average orientation deviation from 142° to 76° during evaluation. This KT concept shows good generalisation properties and could be applied to any actor-critic learning algorithm.

Francisco Roldan Sanchez, Qiang Wang, David Cordova Bulens et al.

Hindsight Experience Replay (HER) is a technique used in reinforcement learning (RL) that has proven to be very efficient for training off-policy RL-based agents to solve goal-based robotic manipulation tasks using sparse rewards. Even though HER improves the sample efficiency of RL-based agents by learning from mistakes made in past experiences, it does not provide any guidance while exploring the environment. This leads to very large training times due to the volume of experience required to train an agent using this replay strategy. In this paper, we propose a method that uses primitive behaviours that have been previously learned to solve simple tasks in order to guide the agent toward more rewarding actions during exploration while learning other more complex tasks. This guidance, however, is not executed by a manually designed curriculum, but rather using a critic network to decide at each timestep whether or not to use the actions proposed by the previously-learned primitive policies. We evaluate our method by comparing its performance against HER and other more efficient variations of this algorithm in several block manipulation tasks. We demonstrate the agents can learn a successful policy faster when using our proposed method, both in terms of sample efficiency and computation time. Code is available at https://github.com/franroldans/qmp-her.

Mayug Maniparambil, Nils Hoehing, Janak Kapuriya et al.

Solving topological grid puzzles requires reasoning over global spatial invariants such as connectivity, loop closure, and region symmetry and remains challenging for even the most powerful large language models (LLMs). To study these abilities under controlled settings, we introduce TopoBench, a benchmark of six puzzle families across three difficulty levels. We evaluate strong reasoning LLMs on TopoBench and find that even frontier models solve fewer than one quarter of hard instances, with two families nearly unsolved. To investigate whether these failures stem from reasoning limitations or from difficulty extracting and maintaining spatial constraints, we annotate 750 chain of thought traces with an error taxonomy that surfaces four candidate causal failure modes, then test them with targeted interventions simulating each error type. These interventions show that certain error patterns like premature commitment and constraint forgetting have a direct impact on the ability to solve the puzzle, while repeated reasoning is a benign effect of search. Finally we study mitigation strategies including prompt guidance, cell-aligned grid representations and tool-based constraint checking, finding that the bottleneck lies in extracting constraints from spatial representations and not in reasoning over them. Code and data are available at github.com/mayug/topobench-benchmark.

Sen Yan, Maqsood Hussain Shah, Ji Li et al.

E-mobility, or electric mobility, has emerged as a pivotal solution to address pressing environmental and sustainability concerns in the transportation sector. The depletion of fossil fuels, escalating greenhouse gas emissions, and the imperative to combat climate change underscore the significance of transitioning to electric vehicles (EVs). This paper seeks to explore the potential of artificial intelligence (AI) in addressing various challenges related to effective energy management in e-mobility systems (EMS). These challenges encompass critical factors such as range anxiety, charge rate optimization, and the longevity of energy storage in EVs. By analyzing existing literature, we delve into the role that AI can play in tackling these challenges and enabling efficient energy management in EMS. Our objectives are twofold: to provide an overview of the current state-of-the-art in this research domain and propose effective avenues for future investigations. Through this analysis, we aim to contribute to the advancement of sustainable and efficient e-mobility solutions, shaping a greener and more sustainable future for transportation.

Yasser Abdelaziz Dahou Djilali, Kevin McGuiness, Noel O'Connor

We present a novel approach for saliency prediction in images, leveraging parallel decoding in transformers to learn saliency solely from fixation maps. Models typically rely on continuous saliency maps, to overcome the difficulty of optimizing for the discrete fixation map. We attempt to replicate the experimental setup that generates saliency datasets. Our approach treats saliency prediction as a direct set prediction problem, via a global loss that enforces unique fixations prediction through bipartite matching and a transformer encoder-decoder architecture. By utilizing a fixed set of learned fixation queries, the cross-attention reasons over the image features to directly output the fixation points, distinguishing it from other modern saliency predictors. Our approach, named Saliency TRansformer (SalTR), achieves metric scores on par with state-of-the-art approaches on the Salicon and MIT300 benchmarks.

Sidra Aleem, Mayug Maniparambil, Suzanne Little et al.

Chest X-rays have been widely used for COVID-19 screening; however, 3D computed tomography (CT) is a more effective modality. We present our findings on COVID-19 severity prediction from chest CT scans using the STOIC dataset. We developed an ensemble deep learning based model that incorporates multiple neural networks to improve predictions. To address data imbalance, we used slicing functions and data augmentation. We further improved performance using test time data augmentation. Our approach which employs a simple yet effective ensemble of deep learning-based models with strong test time augmentations, achieved results comparable to more complex methods and secured the fourth position in the STOIC2021 COVID-19 AI Challenge. Our code is available on online: at: https://github.com/aleemsidra/stoic2021- baseline-finalphase-main.

Paul Albert, Mohamed Saadeldin, Badri Narayanan et al.

Monitoring species-specific dry herbage biomass is an important aspect of pasture-based milk production systems. Being aware of the herbage biomass in the field enables farmers to manage surpluses and deficits in herbage supply, as well as using targeted nitrogen fertilization when necessary. Deep learning for computer vision is a powerful tool in this context as it can accurately estimate the dry biomass of a herbage parcel using images of the grass canopy taken using a portable device. However, the performance of deep learning comes at the cost of an extensive, and in this case destructive, data gathering process. Since accurate species-specific biomass estimation is labor intensive and destructive for the herbage parcel, we propose in this paper to study low supervision approaches to dry biomass estimation using computer vision. Our contributions include: a synthetic data generation algorithm to generate data for a herbage height aware semantic segmentation task, an automatic process to label data using semantic segmentation maps, and a robust regression network trained to predict dry biomass using approximate biomass labels and a small trusted dataset with gold standard labels. We design our approach on a herbage mass estimation dataset collected in Ireland and also report state-of-the-art results on the publicly released Grass-Clover biomass estimation dataset from Denmark. Our code is available at https://git.io/J0L2a

Sen Yan, Hongyuan Fang, Ji Li et al.

Battery Electric Vehicles (BEVs) are increasingly significant in modern cities due to their potential to reduce air pollution. Precise and real-time estimation of energy consumption for them is imperative for effective itinerary planning and optimizing vehicle systems, which can reduce driving range anxiety and decrease energy costs. As public awareness of data privacy increases, adopting approaches that safeguard data privacy in the context of BEV energy consumption modeling is crucial. Federated Learning (FL) is a promising solution mitigating the risk of exposing sensitive information to third parties by allowing local data to remain on devices and only sharing model updates with a central server. Our work investigates the potential of using FL methods, such as FedAvg, and FedPer, to improve BEV energy consumption prediction while maintaining user privacy. We conducted experiments using data from 10 BEVs under simulated real-world driving conditions. Our results demonstrate that the FedAvg-LSTM model achieved a reduction of up to 67.84\% in the MAE value of the prediction results. Furthermore, we explored various real-world scenarios and discussed how FL methods can be employed in those cases. Our findings show that FL methods can effectively improve the performance of BEV energy consumption prediction while maintaining user privacy.

Qiang Wang, Yixin Deng, Francisco Roldan Sanchez et al.

Offline policy learning aims to discover decision-making policies from previously-collected datasets without additional online interactions with the environment. As the training dataset is fixed, its quality becomes a crucial determining factor in the performance of the learned policy. This paper studies a dataset characteristic that we refer to as multi-behavior, indicating that the dataset is collected using multiple policies that exhibit distinct behaviors. In contrast, a uni-behavior dataset would be collected solely using one policy. We observed that policies learned from a uni-behavior dataset typically outperform those learned from multi-behavior datasets, despite the uni-behavior dataset having fewer examples and less diversity. Therefore, we propose a behavior-aware deep clustering approach that partitions multi-behavior datasets into several uni-behavior subsets, thereby benefiting downstream policy learning. Our approach is flexible and effective; it can adaptively estimate the number of clusters while demonstrating high clustering accuracy, achieving an average Adjusted Rand Index of 0.987 across various continuous control task datasets. Finally, we present improved policy learning examples using dataset clustering and discuss several potential scenarios where our approach might benefit the offline policy learning community.

Paul Albert, Diego Ortego, Eric Arazo et al.

A recurring focus of the deep learning community is towards reducing the labeling effort. Data gathering and annotation using a search engine is a simple alternative to generating a fully human-annotated and human-gathered dataset. Although web crawling is very time efficient, some of the retrieved images are unavoidably noisy, i.e. incorrectly labeled. Designing robust algorithms for training on noisy data gathered from the web is an important research perspective that would render the building of datasets easier. In this paper we conduct a study to understand the type of label noise to expect when building a dataset using a search engine. We review the current limitations of state-of-the-art methods for dealing with noisy labels for image classification tasks in the case of web noise distribution. We propose a simple solution to bridge the gap with a fully clean dataset using Dynamic Softening of Out-of-distribution Samples (DSOS), which we design on corrupted versions of the CIFAR-100 dataset, and compare against state-of-the-art algorithms on the web noise perturbated MiniImageNet and Stanford datasets and on real label noise datasets: WebVision 1.0 and Clothing1M. Our work is fully reproducible https://git.io/JKGcj

Robert McCarthy, Francisco Roldan Sanchez, Qiang Wang et al.

This paper details our winning submission to Phase 1 of the 2021 Real Robot Challenge; a challenge in which a three-fingered robot must carry a cube along specified goal trajectories. To solve Phase 1, we use a pure reinforcement learning approach which requires minimal expert knowledge of the robotic system, or of robotic grasping in general. A sparse, goal-based reward is employed in conjunction with Hindsight Experience Replay to teach the control policy to move the cube to the desired x and y coordinates of the goal. Simultaneously, a dense distance-based reward is employed to teach the policy to lift the cube to the z coordinate (the height component) of the goal. The policy is trained in simulation with domain randomisation before being transferred to the real robot for evaluation. Although performance tends to worsen after this transfer, our best policy can successfully lift the real cube along goal trajectories via an effective pinching grasp. Our approach outperforms all other submissions, including those leveraging more traditional robotic control techniques, and is the first pure learning-based method to solve this challenge.

Stefan Bauer, Felix Widmaier, Manuel Wüthrich et al.

Dexterous manipulation remains an open problem in robotics. To coordinate efforts of the research community towards tackling this problem, we propose a shared benchmark. We designed and built robotic platforms that are hosted at MPI for Intelligent Systems and can be accessed remotely. Each platform consists of three robotic fingers that are capable of dexterous object manipulation. Users are able to control the platforms remotely by submitting code that is executed automatically, akin to a computational cluster. Using this setup, i) we host robotics competitions, where teams from anywhere in the world access our platforms to tackle challenging tasks ii) we publish the datasets collected during these competitions (consisting of hundreds of robot hours), and iii) we give researchers access to these platforms for their own projects.

Marc Gorriz Blanch, Issa Khalifeh, Alan Smeaton et al.

Exemplar-based colourisation aims to add plausible colours to a grayscale image using the guidance of a colour reference image. Most of the existing methods tackle the task as a style transfer problem, using a convolutional neural network (CNN) to obtain deep representations of the content of both inputs. Stylised outputs are then obtained by computing similarities between both feature representations in order to transfer the style of the reference to the content of the target input. However, in order to gain robustness towards dissimilar references, the stylised outputs need to be refined with a second colourisation network, which significantly increases the overall system complexity. This work reformulates the existing methodology introducing a novel end-to-end colourisation network that unifies the feature matching with the colourisation process. The proposed architecture integrates attention modules at different resolutions that learn how to perform the style transfer task in an unsupervised way towards decoding realistic colour predictions. Moreover, axial attention is proposed to simplify the attention operations and to obtain a fast but robust cost-effective architecture. Experimental validations demonstrate efficiency of the proposed methodology which generates high quality and visual appealing colourisation. Furthermore, the complexity of the proposed methodology is reduced compared to the state-of-the-art methods.

Tarun Krishna, Kevin McGuinness, Noel O'Connor

In this work, we evaluate contrastive models for the task of image retrieval. We hypothesise that models that are learned to encode semantic similarity among instances via discriminative learning should perform well on the task of image retrieval, where relevancy is defined in terms of instances of the same object. Through our extensive evaluation, we find that representations from models trained using contrastive methods perform on-par with (and outperforms) a pre-trained supervised baseline trained on the ImageNet labels in retrieval tasks under various configurations. This is remarkable given that the contrastive models require no explicit supervision. Thus, we conclude that these models can be used to bootstrap base models to build more robust image retrieval engines.

Feiyan Hu, Eva Mohedano, Noel O'Connor et al.

Current deep learning based video classification architectures are typically trained end-to-end on large volumes of data and require extensive computational resources. This paper aims to exploit audio-visual information in video classification with a 1 frame per second sampling rate. We propose Temporal Bilinear Encoding Networks (TBEN) for encoding both audio and visual long range temporal information using bilinear pooling and demonstrate bilinear pooling is better than average pooling on the temporal dimension for videos with low sampling rate. We also embed the label hierarchy in TBEN to further improve the robustness of the classifier. Experiments on the FGA240 fine-grained classification dataset using TBEN achieve a new state-of-the-art (hit@1=47.95%). We also exploit the possibility of incorporating TBEN with multiple decoupled modalities like visual semantic and motion features: experiments on UCF101 sampled at 1 FPS achieve close to state-of-the-art accuracy (hit@1=91.03%) while requiring significantly less computational resources than competing approaches for both training and prediction.

Yasser Dahou, Marouane Tliba, Kevin McGuinness et al.

The spherical domain representation of 360 video/image presents many challenges related to the storage, processing, transmission and rendering of omnidirectional videos (ODV). Models of human visual attention can be used so that only a single viewport is rendered at a time, which is important when developing systems that allow users to explore ODV with head mounted displays (HMD). Accordingly, researchers have proposed various saliency models for 360 video/images. This paper proposes ATSal, a novel attention based (head-eye) saliency model for 360\degree videos. The attention mechanism explicitly encodes global static visual attention allowing expert models to focus on learning the saliency on local patches throughout consecutive frames. We compare the proposed approach to other state-of-the-art saliency models on two datasets: Salient360! and VR-EyeTracking. Experimental results on over 80 ODV videos (75K+ frames) show that the proposed method outperforms the existing state-of-the-art.

Junting Pan, Kevin McGuinness, Elisa Sayrol et al.

The prediction of salient areas in images has been traditionally addressed with hand-crafted features based on neuroscience principles. This paper, however, addresses the problem with a completely data-driven approach by training a convolutional neural network (convnet). The learning process is formulated as a minimization of a loss function that measures the Euclidean distance of the predicted saliency map with the provided ground truth. The recent publication of large datasets of saliency prediction has provided enough data to train end-to-end architectures that are both fast and accurate. Two designs are proposed: a shallow convnet trained from scratch, and a another deeper solution whose first three layers are adapted from another network trained for classification. To the authors knowledge, these are the first end-to-end CNNs trained and tested for the purpose of saliency prediction.

Eva Mohedano, Amaia Salvador, Sergi Porta et al.

This paper explores the potential for using Brain Computer Interfaces (BCI) as a relevance feedback mechanism in content-based image retrieval. We investigate if it is possible to capture useful EEG signals to detect if relevant objects are present in a dataset of realistic and complex images. We perform several experiments using a rapid serial visual presentation (RSVP) of images at different rates (5Hz and 10Hz) on 8 users with different degrees of familiarization with BCI and the dataset. We then use the feedback from the BCI and mouse-based interfaces to retrieve localized objects in a subset of TRECVid images. We show that it is indeed possible to detect such objects in complex images and, also, that users with previous knowledge on the dataset or experience with the RSVP outperform others. When the users have limited time to annotate the images (100 seconds in our experiments) both interfaces are comparable in performance. Comparing our best users in a retrieval task, we found that EEG-based relevance feedback outperforms mouse-based feedback. The realistic and complex image dataset differentiates our work from previous studies on EEG for image retrieval.