In order to explore and act autonomously in an environment, an agent needs to learn from the sensorimotor information that is captured while acting. By extracting the regularities in this sensorimotor stream, it can learn a model of the world, which in turn can be used as a basis for action and exploration. This requires the acquisition of compact representations from a possibly high dimensional raw observation, which is noisy and ambiguous. In this paper, we learn sensory representations from sensorimotor prediction. We propose a model which integrates sensorimotor information over time, and project it in a sensory representation which is useful for prediction. We emphasize on a simple example the role of motor and memory for learning sensory representations.
In @cite_1 , the authors propose to learn a mapping from an RGB image to a representation space constrained by different priors (repeatability, proportionality with respect to the motor commands, causality and temporality), for a planar agent moving in a simple environment. They observe that the learned representation space corresponds to the position of the agent in the environment. This paper is very relevant, as the authors learn representations based on motor and sensors. However, the definition of their priors require having an external reward, which is not suitable for open-ended learning. Also, their environment is non-ambiguous, and the motor commands used are discrete very simple.
@cite_1
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In this paper, we propose a non-local structured prior for volumetric multi-view 3D reconstruction. Towards this goal, we present a novel Markov random field model based on ray potentials in which assumptions about large 3D surface patches such as planarity or Manhattan world constraints can be efficiently encoded as probabilistic priors. We further derive an inference algorithm that reasons jointly about voxels, pixels and image segments, and estimates marginal distributions of appearance, occupancy, depth, normals and planarity. Key to tractable inference is a novel hybrid representation that spans both voxel and pixel space and that integrates non-local information from 2D image segmentations in a principled way. We compare our non-local prior to commonly employed local smoothness assumptions and a variety of state-of-the-art volumetric reconstruction baselines on challenging outdoor scenes with textureless and reflective surfaces. Our experiments indicate that regularizing over larger distances has the potential to resolve ambiguities where local regularizers fail. We address the problem of visually detecting causal events and fitting them together into a coherent story of the action witnessed by the camera. We show that this can be done by reasoning about the motions and collisions of surfaces, using high-level causal constraints derived from psychological studies of infant visual behavior. These constraints are naive forms of basic physical laws governing substantiality, contiguity, momentum, and acceleration. We describe two implementations. One system parses instructional videos, extracting plans of action and key frames suitable for storyboarding. Since learning will play a role in making such systems robust, we introduce a new framework for higher-order hidden Markov models and demonstrate its use in a second system that segments stereo video into actions in near real-time. Rather than attempt accurate low-level vision, both systems use high-level causal analysis to integrate fast but sloppy pixel-based representations over time. The output is suitable for summary, indexing, and automated editing. The wide availability of affordable RGB-D sensors changes the landscape of indoor scene analysis. Years of research on simultaneous localization and mapping (SLAM) have made it possible to merge multiple RGB-D images into a single point cloud and provide a 3D model for a complete indoor scene. However, these reconstructed models only have geometry information, not including semantic knowledge. The advancements in robot autonomy and capabilities for carrying out more complex tasks in unstructured environments can be greatly enhanced by endowing environment models with semantic knowledge. Towards this goal, we propose a novel approach to generate 3D semantic maps for an indoor scene. Our approach creates a 3D reconstructed map from a RGB-D image sequence firstly, then we jointly infer the semantic object category and structural class for each point of the global map. 12 object categories (e.g. walls, tables, chairs) and 4 structural classes (ground, structure, furniture and props) are labeled in the global map. In this way, we can totally understand both the object and structure information. In order to get semantic information, we compute semantic segmentation for each RGB-D image and merge the labeling results by a Dense Conditional Random Field. Different from previous techniques, we use temporal information and higher-order cliques to enforce the label consistency for each image labeling result. Our experiments demonstrate that temporal information and higher-order cliques are significant for the semantic mapping procedure and can improve the precision of the semantic mapping results. Robust sensing of the environment is fundamental for driver assistance systems performing safe maneuvers. While approaches to object detection have experienced tremendous improvements since the introduction and combination of region proposal and convolutional neural networks in one framework, the detection of distant objects occupying just a few pixels in images can be challenging though. The convolutional and pooling layers reduce the image information to feature maps; yet, relevant information may be lost through pooling and convolution for small objects. In order to address this challenge, a new approach to proposing regions is presented that extends the architecture of a region proposal network by incorporating priors to guide the proposals towards regions containing potential target objects. Moreover, inspired by the concept of saliency, a saliency-based prior is chosen to guide the RPN towards important regions in order to make efficient use of differences between objects and background in an unsupervised fashion. This allows the network not only to consider local information provided by the convolutional layers, but also to take into account global information provided by the saliency priors. Experimental results based on a distant vehicle dataset and different configurations including three priors show that the incorporation of saliency-inspired priors into a region proposal network can improve its performance significantly.