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In visual place recognition, accurately identifying and matching images of locations under varying environmental conditions and viewpoints remains a significant challenge. In this paper, we introduce a new technique, called Bag-of-Queries (BoQ), which learns a set of global queries designed to capture universal place-specific attributes. Unlike existing methods that employ self-attention and generate the queries directly from the input features, BoQ employs distinct learnable global queries, which probe the input features via cross-attention, ensuring consistent information aggregation. In addition, our technique provides an interpretable attention mechanism and integrates with both CNN and Vision Transformer backbones. The performance of BoQ is demonstrated through extensive experiments on 14 large-scale benchmarks. It consistently outperforms current state-of-the-art techniques including NetVLAD, MixVPR and EigenPlaces. Moreover, as a global retrieval technique (one-stage), BoQ surpasses two-stage retrieval methods, such as Patch-NetVLAD, TransVPR and R2Former, all while being orders of magnitude faster and more efficient. The code and model weights are publicly available at https://github.com/amaralibey/Bag-of-Queries., Comment: Accepted at CVPR 2024

Despite the success of deep learning models on instance segmentation, current methods still suffer from catastrophic forgetting in continual learning scenarios. In this paper, our contributions for continual instance segmentation are threefold. First, we propose the Y-knowledge distillation (Y-KD), a technique that shares a common feature extractor between the teacher and student networks. As the teacher is also updated with new data in Y-KD, the increased plasticity results in new modules that are specialized on new classes. Second, our Y-KD approach is supported by a dynamic architecture method that trains task-specific modules with a unique instance segmentation head, thereby significantly reducing forgetting. Third, we complete our approach by leveraging checkpoint averaging as a simple method to manually balance the trade-off between performance on the various sets of classes, thus increasing control over the model's behavior without any additional cost. These contributions are united in our model that we name the Dynamic Y-KD network. We perform extensive experiments on several single-step and multi-steps incremental learning scenarios, and we show that our approach outperforms previous methods both on past and new classes. For instance, compared to recent work, our method obtains +2.1% mAP on old classes in 15-1, +7.6% mAP on new classes in 19-1 and reaches 91.5% of the mAP obtained by joint-training on all classes in 15-5.

Visual Place Recognition (VPR) is a crucial part of mobile robotics and autonomous driving as well as other computer vision tasks. It refers to the process of identifying a place depicted in a query image using only computer vision. At large scale, repetitive structures, weather and illumination changes pose a real challenge, as appearances can drastically change over time. Along with tackling these challenges, an efficient VPR technique must also be practical in real-world scenarios where latency matters. To address this, we introduce MixVPR, a new holistic feature aggregation technique that takes feature maps from pre-trained backbones as a set of global features. Then, it incorporates a global relationship between elements in each feature map in a cascade of feature mixing, eliminating the need for local or pyramidal aggregation as done in NetVLAD or TransVPR. We demonstrate the effectiveness of our technique through extensive experiments on multiple large-scale benchmarks. Our method outperforms all existing techniques by a large margin while having less than half the number of parameters compared to CosPlace and NetVLAD. We achieve a new all-time high recall@1 score of 94.6% on Pitts250k-test, 88.0% on MapillarySLS, and more importantly, 58.4% on Nordland. Finally, our method outperforms two-stage retrieval techniques such as Patch-NetVLAD, TransVPR and SuperGLUE all while being orders of magnitude faster. Our code and trained models are available at https://github.com/amaralibey/MixVPR., Comment: Accepted at WACV 2023

Learning deep representations for visual place recognition is commonly performed using pairwise or triple loss functions that highly depend on the hardness of the examples sampled at each training iteration. Existing techniques address this by using computationally and memory expensive offline hard mining, which consists of identifying, at each iteration, the hardest samples from the training set. In this paper we introduce a new technique that performs global hard mini-batch sampling based on proxies. To do so, we add a new end-to-end trainable branch to the network, which generates efficient place descriptors (one proxy for each place). These proxy representations are thus used to construct a global index that encompasses the similarities between all places in the dataset, allowing for highly informative mini-batch sampling at each training iteration. Our method can be used in combination with all existing pairwise and triplet loss functions with negligible additional memory and computation cost. We run extensive ablation studies and show that our technique brings new state-of-the-art performance on multiple large-scale benchmarks such as Pittsburgh, Mapillary-SLS and SPED. In particular, our method provides more than 100% relative improvement on the challenging Nordland dataset. Our code is available at https://github.com/amaralibey/GPM, Comment: Accepted at BMVC 2022

This paper aims to investigate representation learning for large scale visual place recognition, which consists of determining the location depicted in a query image by referring to a database of reference images. This is a challenging task due to the large-scale environmental changes that can occur over time (i.e., weather, illumination, season, traffic, occlusion). Progress is currently challenged by the lack of large databases with accurate ground truth. To address this challenge, we introduce GSV-Cities, a new image dataset providing the widest geographic coverage to date with highly accurate ground truth, covering more than 40 cities across all continents over a 14-year period. We subsequently explore the full potential of recent advances in deep metric learning to train networks specifically for place recognition, and evaluate how different loss functions influence performance. In addition, we show that performance of existing methods substantially improves when trained on GSV-Cities. Finally, we introduce a new fully convolutional aggregation layer that outperforms existing techniques, including GeM, NetVLAD and CosPlace, and establish a new state-of-the-art on large-scale benchmarks, such as Pittsburgh, Mapillary-SLS, SPED and Nordland. The dataset and code are available for research purposes at https://github.com/amaralibey/gsv-cities., Comment: Neurocomputing 2022

One crucial objective of multi-task learning is to align distributions across tasks so that the information between them can be transferred and shared. However, existing approaches only focused on matching the marginal feature distribution while ignoring the semantic information, which may hinder the learning performance. To address this issue, we propose to leverage the label information in multi-task learning by exploring the semantic conditional relations among tasks. We first theoretically analyze the generalization bound of multi-task learning based on the notion of Jensen-Shannon divergence, which provides new insights into the value of label information in multi-task learning. Our analysis also leads to a concrete algorithm that jointly matches the semantic distribution and controls label distribution divergence. To confirm the effectiveness of the proposed method, we first compare the algorithm with several baselines on some benchmarks and then test the algorithms under label space shift conditions. Empirical results demonstrate that the proposed method could outperform most baselines and achieve state-of-the-art performance, particularly showing the benefits under the label shift conditions.

Generalizing knowledge to unseen domains, where data and labels are unavailable, is crucial for machine learning models. We tackle the domain generalization problem to learn from multiple source domains and generalize to a target domain with unknown statistics. The crucial idea is to extract the underlying invariant features across all the domains. Previous domain generalization approaches mainly focused on learning invariant features and stacking the learned features from each source domain to generalize to a new target domain while ignoring the label information, which will lead to indistinguishable features with an ambiguous classification boundary. For this, one possible solution is to constrain the label-similarity when extracting the invariant features and to take advantage of the label similarities for class-specific cohesion and separation of features across domains. Therefore we adopt optimal transport with Wasserstein distance, which could constrain the class label similarity, for adversarial training and also further deploy a metric learning objective to leverage the label information for achieving distinguishable classification boundary. Empirical results show that our proposed method could outperform most of the baselines. Furthermore, ablation studies also demonstrate the effectiveness of each component of our method.

Domain Adaptation aiming to learn a transferable feature between different but related domains has been well investigated and has shown excellent empirical performances. Previous works mainly focused on matching the marginal feature distributions using the adversarial training methods while assuming the conditional relations between the source and target domain remained unchanged, $i.e.$, ignoring the conditional shift problem. However, recent works have shown that such a conditional shift problem exists and can hinder the adaptation process. To address this issue, we have to leverage labelled data from the target domain, but collecting labelled data can be quite expensive and time-consuming. To this end, we introduce a discriminative active learning approach for domain adaptation to reduce the efforts of data annotation. Specifically, we propose three-stage active adversarial training of neural networks: invariant feature space learning (first stage), uncertainty and diversity criteria and their trade-off for query strategy (second stage) and re-training with queried target labels (third stage). Empirical comparisons with existing domain adaptation methods using four benchmark datasets demonstrate the effectiveness of the proposed approach.

This paper introduces the Indian Chefs Process (ICP), a Bayesian nonparametric prior on the joint space of infinite directed acyclic graphs (DAGs) and orders that generalizes Indian Buffet Processes. As our construction shows, the proposed distribution relies on a latent Beta Process controlling both the orders and outgoing connection probabilities of the nodes, and yields a probability distribution on sparse infinite graphs. The main advantage of the ICP over previously proposed Bayesian nonparametric priors for DAG structures is its greater flexibility. To the best of our knowledge, the ICP is the first Bayesian nonparametric model supporting every possible DAG. We demonstrate the usefulness of the ICP on learning the structure of deep generative sigmoid networks as well as convolutional neural networks.

Few-shot Learning (FSL) aims to classify new concepts from a small number of examples. While there have been an increasing amount of work on few-shot object classification in the last few years, most current approaches are limited to images with only one centered object. On the opposite, humans are able to leverage prior knowledge to quickly learn new concepts, such as semantic relations with contextual elements. Inspired by the concept of contextual learning in educational sciences, we propose to make a step towards adopting this principle in FSL by studying the contribution that context can have in object classification in a low-data regime. To this end, we first propose an approach to perform FSL on images of complex scenes. We develop two plug-and-play modules that can be incorporated into existing FSL methods to enable them to leverage contextual learning. More specifically, these modules are trained to weight the most important context elements while learning a particular concept, and then use this knowledge to ground visual class representations in context semantics. Extensive experiments on Visual Genome and Open Images show the superiority of contextual learning over learning individual objects in isolation., Comment: Accepted to WACV 2021

Grasping is a fundamental robotic task needed for the deployment of household robots or furthering warehouse automation. However, few approaches are able to perform grasp detection in real time (frame rate). To this effect, we present Grasp Quality Spatial Transformer Network (GQ-STN), a one-shot grasp detection network. Being based on the Spatial Transformer Network (STN), it produces not only a grasp configuration, but also directly outputs a depth image centered at this configuration. By connecting our architecture to an externally-trained grasp robustness evaluation network, we can train efficiently to satisfy a robustness metric via the backpropagation of the gradient emanating from the evaluation network. This removes the difficulty of training detection networks on sparsely annotated databases, a common issue in grasping. We further propose to use this robustness classifier to compare approaches, being more reliable than the traditional rectangle metric. Our GQ-STN is able to detect robust grasps on the depth images of the Dex-Net 2.0 dataset with 92.4 % accuracy in a single pass of the network. We finally demonstrate in a physical benchmark that our method can propose robust grasps more often than previous sampling-based methods, while being more than 60 times faster.

In this work, we consider the task of classifying binary positive-unlabeled (PU) data. The existing discriminative learning based PU models attempt to seek an optimal reweighting strategy for U data, so that a decent decision boundary can be found. However, given limited P data, the conventional PU models tend to suffer from overfitting when adapted to very flexible deep neural networks. In contrast, we are the first to innovate a totally new paradigm to attack the binary PU task, from perspective of generative learning by leveraging the powerful generative adversarial networks (GAN). Our generative positive-unlabeled (GenPU) framework incorporates an array of discriminators and generators that are endowed with different roles in simultaneously producing positive and negative realistic samples. We provide theoretical analysis to justify that, at equilibrium, GenPU is capable of recovering both positive and negative data distributions. Moreover, we show GenPU is generalizable and closely related to the semi-supervised classification. Given rather limited P data, experiments on both synthetic and real-world dataset demonstrate the effectiveness of our proposed framework. With infinite realistic and diverse sample streams generated from GenPU, a very flexible classifier can then be trained using deep neural networks., Comment: 8 pages

Convolutional neural networks (CNNs) have become the most successful approach in many vision-related domains. However, they are limited to domains where data is abundant. Recent works have looked at multi-task learning (MTL) to mitigate data scarcity by leveraging domain-specific information from related tasks. In this paper, we present a novel soft-parameter sharing mechanism for CNNs in a MTL setting, which we refer to as Deep Collaboration. We propose taking into account the notion that task relevance depends on depth by using lateral transformation blocs with skip connections. This allows extracting task-specific features at various depth without sacrificing features relevant to all tasks. We show that CNNs connected with our Deep Collaboration obtain better accuracy on facial landmark detection with related tasks. We finally verify that our approach effectively allows knowledge sharing by showing depth-specific influence of tasks that we know are related., Comment: Under review at the 15th European Conference on Computer Vision (ECCV) (2018)

The ability to grasp ordinary and potentially never-seen objects is an important feature in both domestic and industrial robotics. For a system to accomplish this, it must autonomously identify grasping locations by using information from various sensors, such as Microsoft Kinect 3D camera. Despite numerous progress, significant work still remains to be done in this field. To this effect, we propose a dictionary learning and sparse representation (DLSR) framework for representing RGBD images from 3D sensors in the context of determining such good grasping locations. In contrast to previously proposed approaches that relied on sophisticated regularization or very large datasets, the derived perception system has a fast training phase and can work with small datasets. It is also theoretically founded for dealing with masked-out entries, which are common with 3D sensors. We contribute by presenting a comparative study of several DLSR approach combinations for recognizing and detecting grasp candidates on the standard Cornell dataset. Importantly, experimental results show a performance improvement of 1.69% in detection and 3.16% in recognition over current state-of-the-art convolutional neural network (CNN). Even though nowadays most popular vision-based approach is CNN, this suggests that DLSR is also a viable alternative with interesting advantages that CNN has not., Comment: Submitted at the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)

Object recognition is an important task for improving the ability of visual systems to perform complex scene understanding. Recently, the Exponential Linear Unit (ELU) has been proposed as a key component for managing bias shift in Convolutional Neural Networks (CNNs), but defines a parameter that must be set by hand. In this paper, we propose learning a parameterization of ELU in order to learn the proper activation shape at each layer in the CNNs. Our results on the MNIST, CIFAR-10/100 and ImageNet datasets using the NiN, Overfeat, All-CNN and ResNet networks indicate that our proposed Parametric ELU (PELU) has better performances than the non-parametric ELU. We have observed as much as a 7.28% relative error improvement on ImageNet with the NiN network, with only 0.0003% parameter increase. Our visual examination of the non-linear behaviors adopted by Vgg using PELU shows that the network took advantage of the added flexibility by learning different activations at different layers., Comment: 16th IEEE International Conference On Machine Learning And Applications, 2017

Partially Observable Markov Decision Processes (POMDPs) provide a rich framework for sequential decision-making under uncertainty in stochastic domains. However, solving a POMDP is often intractable except for small problems due to their complexity. Here, we focus on online approaches that alleviate the computational complexity by computing good local policies at each decision step during the execution. Online algorithms generally consist of a lookahead search to find the best action to execute at each time step in an environment. Our objectives here are to survey the various existing online POMDP methods, analyze their properties and discuss their advantages and disadvantages; and to thoroughly evaluate these online approaches in different environments under various metrics (return, error bound reduction, lower bound improvement). Our experimental results indicate that state-of-the-art online heuristic search methods can handle large POMDP domains efficiently.

This paper presents a technique for approximating, up to any precision, the set of subgame-perfect equilibria (SPE) in discounted repeated games. The process starts with a single hypercube approximation of the set of SPE. Then the initial hypercube is gradually partitioned on to a set of smaller adjacent hypercubes, while those hypercubes that cannot contain any point belonging to the set of SPE are simultaneously withdrawn. Whether a given hypercube can contain an equilibrium point is verified by an appropriate mathematical program. Three different formulations of the algorithm for both approximately computing the set of SPE payoffs and extracting players' strategies are then proposed: the first two that do not assume the presence of an external coordination between players, and the third one that assumes a certain level of coordination during game play for convexifying the set of continuation payoffs after any repeated game history. A special attention is paid to the question of extracting players' strategies and their representability in form of finite automata, an important feature for artificial agent systems., Comment: 26 pages, 13 figures, 1 table