Matching Items (3)
Description
To ensure system integrity, robots need to proactively avoid any unwanted physical perturbation that may cause damage to the underlying hardware. In this thesis work, we investigate a machine learning approach that allows robots to anticipate impending physical perturbations from perceptual cues. In contrast to other approaches that require knowledge about sources of perturbation to be encoded before deployment, our method is based on experiential learning. Robots learn to associate visual cues with subsequent physical perturbations and contacts. In turn, these extracted visual cues are then used to predict potential future perturbations acting on the robot. To this end, we introduce a novel deep network architecture which combines multiple sub- networks for dealing with robot dynamics and perceptual input from the environment. We present a self-supervised approach for training the system that does not require any labeling of training data. Extensive experiments in a human-robot interaction task show that a robot can learn to predict physical contact by a human interaction partner without any prior information or labeling. Furthermore, the network is able to successfully predict physical contact from either depth stream input or traditional video input or using both modalities as input.
ContributorsSur, Indranil (Author) / Amor, Heni B (Thesis advisor) / Fainekos, Georgios (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2017
Description
Graph-structured data, ranging from social networks to financial transaction networks, from citation networks to gene regulatory networks, have been widely used for modeling a myriad of real-world systems. As a prevailing model architecture to model graph-structured data, graph neural networks (GNNs) has drawn much attention in both academic and industrial communities in the past decades. Despite their success in different graph learning tasks, existing methods usually rely on learning from ``big'' data, requiring a large amount of labeled data for model training. However, it is common that real-world graphs are associated with ``small'' labeled data as data annotation and labeling on graphs is always time and resource-consuming. Therefore, it is imperative to investigate graph machine learning (Graph ML) with low-cost human supervision for low-resource settings where limited or even no labeled data is available. This dissertation investigates a new research field -- Data-Efficient Graph Learning, which aims to push forward the performance boundary of graph machine learning (Graph ML) models with different kinds of low-cost supervision signals. To achieve this goal, a series of studies are conducted for solving different data-efficient graph learning problems, including graph few-shot learning, graph weakly-supervised learning, and graph self-supervised learning.
ContributorsDing, Kaize (Author) / Liu, Huan (Thesis advisor) / Xue, Guoliang (Committee member) / Yang, Yezhou (Committee member) / Caverlee, James (Committee member) / Arizona State University (Publisher)
Created2023
Description
In recent years, Convolutional Neural Networks (CNNs) have been widely used in not only the computer vision community but also within the medical imaging community. Specifically, the use of pre-trained CNNs on large-scale datasets (e.g., ImageNet) via transfer learning for a variety of medical imaging applications, has become the de facto standard within both communities.
However, to fit the current paradigm, 3D imaging tasks have to be reformulated and solved in 2D, losing rich 3D contextual information. Moreover, pre-trained models on natural images never see any biomedical images and do not have knowledge about anatomical structures present in medical images. To overcome the above limitations, this thesis proposes an image out-painting self-supervised proxy task to develop pre-trained models directly from medical images without utilizing systematic annotations. The idea is to randomly mask an image and train the model to predict the missing region. It is demonstrated that by predicting missing anatomical structures when seeing only parts of the image, the model will learn generic representation yielding better performance on various medical imaging applications via transfer learning.
The extensive experiments demonstrate that the proposed proxy task outperforms training from scratch in six out of seven medical imaging applications covering 2D and 3D classification and segmentation. Moreover, image out-painting proxy task offers competitive performance to state-of-the-art models pre-trained on ImageNet and other self-supervised baselines such as in-painting. Owing to its outstanding performance, out-painting is utilized as one of the self-supervised proxy tasks to provide generic 3D pre-trained models for medical image analysis.
However, to fit the current paradigm, 3D imaging tasks have to be reformulated and solved in 2D, losing rich 3D contextual information. Moreover, pre-trained models on natural images never see any biomedical images and do not have knowledge about anatomical structures present in medical images. To overcome the above limitations, this thesis proposes an image out-painting self-supervised proxy task to develop pre-trained models directly from medical images without utilizing systematic annotations. The idea is to randomly mask an image and train the model to predict the missing region. It is demonstrated that by predicting missing anatomical structures when seeing only parts of the image, the model will learn generic representation yielding better performance on various medical imaging applications via transfer learning.
The extensive experiments demonstrate that the proposed proxy task outperforms training from scratch in six out of seven medical imaging applications covering 2D and 3D classification and segmentation. Moreover, image out-painting proxy task offers competitive performance to state-of-the-art models pre-trained on ImageNet and other self-supervised baselines such as in-painting. Owing to its outstanding performance, out-painting is utilized as one of the self-supervised proxy tasks to provide generic 3D pre-trained models for medical image analysis.
ContributorsSodha, Vatsal Arvindkumar (Author) / Liang, Jianming (Thesis advisor) / Devarakonda, Murthy (Committee member) / Li, Baoxin (Committee member) / Arizona State University (Publisher)
Created2020