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Register a new userDeep Weakly Supervised Positioning
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Added by
Ruoyu Wang
Publication date
2021
fields
Informatics Engineering
and research's language is
English
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PoseNet can map a photo to the position where it is taken, which is appealing in robotics. However, training PoseNet requires full supervision, where ground truth positions are non-trivial to obtain. Can we train PoseNet without knowing the ground truth positions for each observation? We show that this is possible via constraint-based weak-supervision, leading to the proposed framework: DeepGPS. Particularly, using wheel-encoder-estimated distances traveled by a robot along random straight line segments as constraints between PoseNet outputs, DeepGPS can achieve a relative positioning error of less than 2%. Moreover, training DeepGPS can be done as auto-calibration with almost no human attendance, which is more attractive than its competing methods that typically require careful and expert-level manual calibration. We conduct various experiments on simulated and real datasets to demonstrate the general applicability, effectiveness, and accuracy of DeepGPS, and perform a comprehensive analysis of its robustness. Our code is available at https://ai4ce.github.io/DeepGPS/.
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We present semi-supervised deep learning approaches for traversability estimation from fisheye images. Our method, GONet, and the proposed extensions leverage Generative Adversarial Networks (GANs) to effectively predict whether the area seen in the input image(s) is safe for a robot to traverse. These methods are trained with many positive images of traversable places, but just a small set of negative images depicting blocked and unsafe areas. This makes the proposed methods practical. Positive examples can be collected easily by simply operating a robot through traversable spaces, while obtaining negative examples is time consuming, costly, and potentially dangerous. Through extensive experiments and several demonstrations, we show that the proposed traversability estimation approaches are robust and can generalize to unseen scenarios. Further, we demonstrate that our methods are memory efficient and fast, allowing for real-time operation on a mobile robot with single or stereo fisheye cameras. As part of our contributions, we open-source two new datasets for traversability estimation. These datasets are composed of approximately 24h of videos from more than 25 indoor environments. Our methods outperform baseline approaches for traversability estimation on these new datasets.
The vast majority of semantic segmentation approaches rely on pixel-level annotations that are tedious and time consuming to obtain and suffer from significant inter and intra-expert variability. To address these issues, recent approaches have leveraged categorical annotations at the slide-level, that in general suffer from robustness and generalization. In this paper, we propose a novel weakly supervised multi-instance learning approach that deciphers quantitative slide-level annotations which are fast to obtain and regularly present in clinical routine. The extreme potentials of the proposed approach are demonstrated for tumor segmentation of solid cancer subtypes. The proposed approach achieves superior performance in out-of-distribution, out-of-location, and out-of-domain testing sets.
An outbreak of a novel coronavirus disease (i.e., COVID-19) has been recorded in Wuhan, China since late December 2019, which subsequently became pandemic around the world. Although COVID-19 is an acutely treated disease, it can also be fatal with a risk of fatality of 4.03% in China and the highest of 13.04% in Algeria and 12.67% Italy (as of 8th April 2020). The onset of serious illness may result in death as a consequence of substantial alveolar damage and progressive respiratory failure. Although laboratory testing, e.g., using reverse transcription polymerase chain reaction (RT-PCR), is the golden standard for clinical diagnosis, the tests may produce false negatives. Moreover, under the pandemic situation, shortage of RT-PCR testing resources may also delay the following clinical decision and treatment. Under such circumstances, chest CT imaging has become a valuable tool for both diagnosis and prognosis of COVID-19 patients. In this study, we propose a weakly supervised deep learning strategy for detecting and classifying COVID-19 infection from CT images. The proposed method can minimise the requirements of manual labelling of CT images but still be able to obtain accurate infection detection and distinguish COVID-19 from non-COVID-19 cases. Based on the promising results obtained qualitatively and quantitatively, we can envisage a wide deployment of our developed technique in large-scale clinical studies.
Segmentation of infected areas in chest CT volumes is of great significance for further diagnosis and treatment of COVID-19 patients. Due to the complex shapes and varied appearances of lesions, a large number of voxel-level labeled samples are generally required to train a lesion segmentation network, which is a main bottleneck for developing deep learning based medical image segmentation algorithms. In this paper, we propose a weakly-supervised lesion segmentation framework by embedding the Generative Adversarial training process into the Segmentation Network, which is called GASNet. GASNet is optimized to segment the lesion areas of a COVID-19 CT by the segmenter, and to replace the abnormal appearance with a generated normal appearance by the generator, so that the restored CT volumes are indistinguishable from healthy CT volumes by the discriminator. GASNet is supervised by chest CT volumes of many healthy and COVID-19 subjects without voxel-level annotations. Experiments on three public databases show that when using as few as one voxel-level labeled sample, the performance of GASNet is comparable to fully-supervised segmentation algorithms trained on dozens of voxel-level labeled samples.
While reinforcement learning provides an appealing formalism for learning individual skills, a general-purpose robotic system must be able to master an extensive repertoire of behaviors. Instead of learning a large collection of skills individually, can we instead enable a robot to propose and practice its own behaviors automatically, learning about the affordances and behaviors that it can perform in its environment, such that it can then repurpose this knowledge once a new task is commanded by the user? In this paper, we study this question in the context of self-supervised goal-conditioned reinforcement learning. A central challenge in this learning regime is the problem of goal setting: in order to practice useful skills, the robot must be able to autonomously set goals that are feasible but diverse. When the robots environment and available objects vary, as they do in most open-world settings, the robot must propose to itself only those goals that it can accomplish in its present setting with the objects that are at hand. Previous work only studies self-supervised goal-conditioned RL in a single-environment setting, where goal proposals come from the robots past experience or a generative model are sufficient. In more diverse settings, this frequently leads to impossible goals and, as we show experimentally, prevents effective learning. We propose a conditional goal-setting model that aims to propose goals that are feasible from the robots current state. We demonstrate that this enables self-supervised goal-conditioned off-policy learning with raw image observations in the real world, enabling a robot to manipulate a variety of objects and generalize to new objects that were not seen during training.
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