TASK DEFINITION: In this task, you are given a part of an article. Your task is to generate headline (title) for this text. Preferred headlines are under fifteen words.
PROBLEM: The ability to simultaneously leverage multiple modes of sensor information is critical for perception of an automated vehicle’s physical surroundings. Spatio-temporal alignment of registration of the incoming information is often a prerequisite to analyzing the fused data. The persistence and reliability of multi-modal registration is therefore the key to the stability of decision support systems ingesting the fused information. LiDAR-video systems like on those many driverless cars are a common example of where keeping the LiDAR and video channels registered to common physical features is important. We develop a deep learning method that takes multiple channels of heterogeneous data, to detect the misalignment of the LiDARvideo inputs. A number of variations were tested on the Ford LiDAR-video driving test data set and will be discussed. To the best of our knowledge the use of multi-modal deep convolutional neural networks for dynamic real-time LiDAR-video registration has not been presented.

SOLUTION: Multi-modal Sensor Registration for Vehicle Perception via Deep Neural Networks

PROBLEM: Deep networks rely on massive amounts of labeled data to learn powerful models. For a target task short of labeled data, transfer learning enables model adaptation from a different source domain. This paper addresses deep transfer learning under a more general scenario that the joint distributions of features and labels may change substantially across domains. Based on the theory of Hilbert space embedding of distributions, a novel joint distribution discrepancy is proposed to directly compare joint distributions across domains, eliminating the need of marginal-conditional factorization. Transfer learning is enabled in deep convolutional networks, where the dataset shifts may linger in multiple task-specific feature layers and the classifier layer. A set of joint adaptation networks are crafted to match the joint distributions of these layers across domains by minimizing the joint distribution discrepancy, which can be trained efficiently using back-propagation. Experiments show that the new approach yields state of the art results on standard domain adaptation datasets.

SOLUTION: Deep Transfer Learning with Joint Adaptation Networks

PROBLEM: The convergence of Stochastic Gradient Descent (SGD) using convex loss functions has been widely studied. However, vanilla SGD methods using convex losses cannot perform well with noisy labels, which adversely affect the update of the primal variable in SGD methods. Unfortunately, noisy labels are ubiquitous in real world applications such as crowdsourcing. To handle noisy labels, in this paper, we present a family of robust losses for SGD methods. By employing our robust losses, SGD methods successfully reduce negative effects caused by noisy labels on each update of the primal variable. We not only reveal that the convergence rate is O(1/T ) for SGD methods using robust losses, but also provide the robustness analysis on two representative robust losses. Comprehensive experimental results on six real-world datasets show that SGD methods using robust losses are obviously more robust than other baseline methods in most situations with fast convergence.

SOLUTION:
On the Convergence of A Family of Robust Losses for Stochastic Gradient Descent