Current approaches for fine-grained recognition do the following: First, recruit experts to annotate a dataset of images, optionally also collecting more structured data in the form of part annotations and bounding boxes. Second, train a model utilizing this data. Toward the goal of solving fine-grained recognition, we introduce an alternative approach, leveraging free, noisy data from the web and simple, generic methods of recognition. This approach has benefits in both performance and scalability. We demonstrate its efficacy on four fine-grained datasets, greatly exceeding existing state of the art without the manual collection of even a single label, and furthermore show first results at scaling to more than 10,000 fine-grained categories. Quantitatively, we achieve top-1 accuracies of 92.3% on CUB-200-2011, 85.4% on Birdsnap, 93.4% on FGVC-Aircraft, and 80.8% on Stanford Dogs without using their annotated training sets. We compare our approach to an active learning approach for expanding fine-grained datasets.
Predicting human behavior is a difficult and crucial task required for motion planning. It is challenging in large part due to the highly uncertain and multimodal set of possible outcomes in real-world domains such as autonomous driving. Beyond single MAP trajectory prediction [1,2], obtaining an accurate probability distribution of the future is an area of active interest [3,4]. We present MultiPath, which leverages a fixed set of future state-sequence anchors that correspond to modes of the trajectory distribution. At inference, our model predicts a discrete distribution over the anchors and, for each anchor, regresses offsets from anchor waypoints along with uncertainties, yielding a Gaussian mixture at each time step. Our model is efficient, requiring only one forward inference pass to obtain multi-modal future distributions, and the output is parametric, allowing compact communication and analytical probabilistic queries. We show on several datasets that our model achieves more accurate predictions, and compared to sampling baselines, does so with an order of magnitude fewer trajectories.
We address the problem of articulated human pose estimation by learning a coarse-to-fine cascade of pictorial structure models. While the fine-level state-space of poses of individual parts is too large to permit the use of rich appearance models, most possibilities can be ruled out by efficient structured models at a coarser scale. We propose to learn a sequence of structured models at different pose resolutions, where coarse models filter the pose space for the next level via their max-marginals. The cascade is trained to prune as much as possible while preserving true poses for the final level pictorial structure model. The final level uses much more expensive segmentation, contour and shape features in the model for the remaining filtered set of candidates. We evaluate our framework on the challenging Buffy and PASCAL human pose datasets, improving the stateof-the-art. Disciplines Computer Sciences CommentsBenjamin Sapp, Alexander Toshev, and Ben Taskar. 2010. Cascaded models for articulated pose estimation. In Abstract. We address the problem of articulated human pose estimation by learning a coarse-to-fine cascade of pictorial structure models. While the fine-level state-space of poses of individual parts is too large to permit the use of rich appearance models, most possibilities can be ruled out by efficient structured models at a coarser scale. We propose to learn a sequence of structured models at different pose resolutions, where coarse models filter the pose space for the next level via their max-marginals. The cascade is trained to prune as much as possible while preserving true poses for the final level pictorial structure model. The final level uses much more expensive segmentation, contour and shape features in the model for the remaining filtered set of candidates. We evaluate our framework on the challenging Buffy and PASCAL human pose datasets, improving the state-of-the-art.
We focus on the problem of predicting future states of entities in complex, real-world driving scenarios. Previous research has used low-level signals to predict short time horizons, and has not addressed how to leverage key assets relied upon heavily by industry self-driving systems:(1) large 3D perception efforts which provide highly accurate 3D states of agents with rich attributes, and (2) detailed and accurate semantic maps of the environment (lanes, traffic lights, crosswalks, etc). We present a unified representation which encodes such high-level semantic information in a spatial grid, allowing the use of deep convolutional models to fuse complex scene context. This enables learning entity-entity and entity-environment interactions with simple, feed-forward computations in each timestep within an overall temporal model of an agent's behavior. We propose different ways of modelling the future as a distribution over future states using standard supervised learning. We introduce a novel dataset providing industry-grade rich perception and semantic inputs, and empirically show we can effectively learn fundamentals of driving behavior.
In many image and video collections, we have access only to partially labeled data. For example, personal photo collections often contain several faces per image and a caption that only specifies who is in the picture, but not which name matches which face. Similarly, movie screenplays can tell us who is in the scene, but not when and where they are on the screen. We formulate the learning problem in this setting as partially-supervised multiclass classification where each instance is labeled ambiguously with more than one label. We show theoretically that effective learning is possible under reasonable assumptions even when all the data is weakly labeled. Motivated by the analysis, we propose a general convex learning formulation based on minimization of a surrogate loss appropriate for the ambiguous label setting. We apply our framework to identifying faces culled from web news sources and to naming characters in TV series and movies. We experiment on a very large dataset consisting of 100 hours of video, and in particular achieve 6% error for character naming on 16 episodes of LOST.
This paper characterizes the actual science performance of the James Webb Space Telescope (JWST), as determined from the six month commissioning period. We summarize the performance of the spacecraft, telescope, science instruments, and ground system, with an emphasis on differences from pre-launch expectations. Commissioning has made clear that JWST is fully capable of achieving the discoveries for which it was built. Moreover, almost across the board, the science performance of JWST is better than expected; in most cases, JWST will go deeper faster than expected. The telescope and instrument suite have demonstrated the sensitivity, stability, image quality, and spectral range that are necessary to transform our understanding of the cosmos through observations spanning from near-earth asteroids to the most distant galaxies.
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