Patent ID: 11893087
Assignee: ROBERT BOSCH GMBH
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 5:
6. The multimodal perception system of claim 5, wherein the controller is further configured to jointly train the odd-one-out network according to a loss function expressed by, -
   
    
     𝔼
     
      
       
        (
        
         x
         ,
         y
        
        )
       
       ∼
       𝒟
      
      
       
        z
        i
       
       =
       
        
         g
         i
        
        (
        
         x
         i
        
        )
       
      
     
    
    [
    
     
      log
      ⁢
      
       
        o
        ⁡
        (
        z
        )
       
       
        k
        +
        1
       
      
     
     +
     
      
       
        ∑
         
       
       
        i
        =
        1
       
       k
      
      ⁢
      log
      ⁢
      
       
        o
        ⁡
        (
        
         
          z
          i
          *
         
         ,
         
          z
          
           -
           i
          
         
        
        )
       
       i
      
     
    
    ]
   
  
  ,
 

in parallel with a task modality, in which z*i=gi(x*i)is a feature extracted from perturbed inputx*i, and o is the odd-one-out network, and in response to a stopping criteria event, halt the joint training.