Human-centered environments are rich with a wide variety of spatial relations between everyday objects. For autonomous robots to operate effectively in such environments, they should be able to reason about these relations and generalize them to objects with different shapes and sizes. For example, having learned to place a toy inside a basket, a robot should be able to generalize this concept using a spoon and a cup. This requires a robot to have the flexibility to learn arbitrary relations in a lifelong manner, making it challenging for an expert to pre-program it with sufficient knowledge to do so beforehand. In this paper, we address the problem of learning spatial relations by introducing a novel method from the perspective of distance metric learning. Our approach enables a robot to reason about the similarity between pairwise spatial relations, thereby enabling it to use its previous knowledge when presented with a new relation to imitate. We show how this makes it possible to learn arbitrary spatial relations from non-expert users using a small number of examples and in an interactive manner. Our extensive evaluation with real-world data demonstrates the effectiveness of our method in reasoning about a continuous spectrum of spatial relations and generalizing them to new objects.
Related to this is the work by rosman2011learning , which proposes constructing a contact point graph to classify spatial relations @cite_13 . Similarly, fichtl2014learning train random forest classifiers for relations based on histograms that encode the relative position of surface patches @cite_6 . guadarrama2013grounding learn models of pre-defined prepositions by training a multi-class logistic regression model using data gathered from crowdsourcing @cite_22 . As opposed to those works, we propose learning a distance metric that captures the similarities between different relations without specifying explicit classes.
@cite_13 @cite_22 @cite_6
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Scientific literature with rich metadata can be represented as a labeled directed graph. This graph representation enables a number of scientific tasks such as ad hoc retrieval or named entity recognition (NER) to be formulated as typed proximity queries in the graph. One popular proximity measure is called Random Walk with Restart (RWR), and much work has been done on the supervised learning of RWR measures by associating each edge label with a parameter. In this paper, we describe a novel learnable proximity measure which instead uses one weight per edge label sequence: proximity is defined by a weighted combination of simple "path experts", each corresponding to following a particular sequence of labeled edges. Experiments on eight tasks in two subdomains of biology show that the new learning method significantly outperforms the RWR model (both trained and untrained). We also extend the method to support two additional types of experts to model intrinsic properties of entities: query-independent experts, which generalize the PageRank measure, and popular entity experts which allow rankings to be adjusted for particular entities that are especially important. This work investigates the use of Random Forests for class based pixel-wise segmentation of images. The contribution of this paper is three-fold. First, we show that apparently quite dissimilar classifiers (such as nearest neighbour matching to texton class histograms) can be mapped onto a Random Forest architecture. Second, based on this insight, we show that the performance of such classifiers can be improved by incorporating the spatial context and discriminative learning that arises naturally in the Random Forest framework. Finally, we show that the ability of Random Forests to combine multiple features leads to a further increase in performance when textons, colour, filterbanks, and HOG features are used simultaneously. The benefit of the multi-feature classifier is demonstrated with extensive experimentation on existing labelled image datasets. The method equals or exceeds the state of the art on these datasets. Many state-of-the-art approaches for object recognition reduce the problem to a 0-1 classification task. This allows one to leverage sophisticated machine learning techniques for training classifiers from labeled examples. However, these models are typically trained independently for each class using positive and negative examples cropped from images. At test-time, various post-processing heuristics such as non-maxima suppression (NMS) are required to reconcile multiple detections within and between different classes for each image. Though crucial to good performance on benchmarks, this post-processing is usually defined heuristically. We introduce a unified model for multi-class object recognition that casts the problem as a structured prediction task. Rather than predicting a binary label for each image window independently, our model simultaneously predicts a structured labeling of the entire image (Fig. 1). Our model learns statistics that capture the spatial arrangements of various object classes in real images, both in terms of which arrangements to suppress through NMS and which arrangements to favor through spatial co-occurrence statistics. We formulate parameter estimation in our model as a max-margin learning problem. Given training images with ground-truth object locations, we show how to formulate learning as a convex optimization problem. We employ the cutting plane algorithm of (Mach. Learn. 2009) to efficiently learn a model from thousands of training images. We show state-of-the-art results on the PASCAL VOC benchmark that indicate the benefits of learning a global model encapsulating the spatial layout of multiple object classes (a preliminary version of this work appeared in ICCV 2009, , IEEE international conference on computer vision, 2009). This work explores the use of spatial context as a source of free and plentiful supervisory signal for training a rich visual representation. Given only a large, unlabeled image collection, we extract random pairs of patches from each image and train a convolutional neural net to predict the position of the second patch relative to the first. We argue that doing well on this task requires the model to learn to recognize objects and their parts. We demonstrate that the feature representation learned using this within-image context indeed captures visual similarity across images. For example, this representation allows us to perform unsupervised visual discovery of objects like cats, people, and even birds from the Pascal VOC 2011 detection dataset. Furthermore, we show that the learned ConvNet can be used in the R-CNN framework [19] and provides a significant boost over a randomly-initialized ConvNet, resulting in state-of-the-art performance among algorithms which use only Pascal-provided training set annotations.