nils-herrmann/clean_scirepeval huggingface dataset:
Mapping and positioning for a prototype lunar rover

In this paper, we describe practical, effective approaches to outdoor mapping and positioning, and present results from systems implemented for a prototype lunar rover. For mapping, we have developed a binocular head and mounted it on a motion-averaging mast. This head provides images to a normalized correlation matcher, that intelligently selects what part of the image to process (saving time), and subsamples the images (again saving time) without subsampling disparities (which would reduce accuracy). The mapping system has operated successfully during long-duration field exercises, processing streams of thousands of images. The positioning system employs encoders, inclinometers, a compass, and a turn-rate sensor to maintain the position and orientation of the rover as it traverses. The system succeeds in the face of significant sensor noise by virtue of sensor modelling, plus extensive filtering and data screening.
Applications of Non-Metric Vision to some Visually Guided Robotics Tasks

We usually think of the physical space as being embedded in a three-dimensional Euclidean space where measurements of lengths and angles do make sense. It turns out that for artificial systems, such as robots, this is not a mandatory viewpoint and that it is sometimes sufficient to think of the physical space as being embedded in an affine or even projective space. The question then arises of how to relate these geometric models to image measurements and to geometric properties of sets of cameras. We first consider that the world is modelled as a projective space and determine how projective invariant information can be recovered from the images and used in applications. Next we consider that the world is an affine space and determine how affine invariant information can be recovered from the images and used in applications. Finally, we do not move to the Euclidean layer because this is the layer where everybody else has been working with from the early days on, but rather to an intermediate level between the affine and Euclidean ones. For each of the three layers we explain various calibration procedures, from fully automatic ones to ones that use some a priori information. The calibration increases in difficulty from the projective to the Euclidean layer at the same time as the information that can be recovered from the images becomes more and more specific and detailed. The two main applications that we consider are the detection of obstacles and the navigation of a robot vehicle.
Experience with rover navigation for lunar-like terrains

Reliable navigation is critical for a lunar rover, both for autonomous traverses and safeguarded remote teleoperation. This paper describes an implemented system that has autonomously driven a prototype wheeled lunar rover over a kilometer in natural, outdoor terrain. The navigation system uses stereo terrain maps to perform local obstacle avoidance, and arbitrates steering recommendations from both the user and the rover. The paper describes the system architecture, each of the major components, and the experimental results to date.
Stereo perception and dead reckoning for a prototype lunar rover

This paper describes practical, effective approaches to stereo perception and dead reckoning, and presents results from systems implemented for a prototype lunar rover operating in natural, outdoor environments.The stereo perception hardware includes a binocular head mounted on a motion-averaging mast. This head provides images to a normalized correlation matcher, that intelligently selects what part of the image to process (saving time), and subsamples the images (again saving time) without subsampling disparities (which would reduce accuracy). The implementation has operated successfully during long-duration field exercises, processing streams of thousands of images.The dead reckoning approach employs encoders, inclinometers, a compass, and a turn-rate sensor to maintain the position and orientation of the rover as it traverses. The approach integrates classical odometry with inertial guidance. The implementation succeeds in the face of significant sensor noise by virtue of sensor modelling, plus extensive filtering.The stereo and dead reckoning components are used by an obstacle avoidance planner that projects a finite number of arcs through the terrain map, and evaluates the traversability of each arc to choose a travel direction that is safe and effective. With these components integrated into a complete navigation system, a prototype rover has traversed over 1 km in lunar-like environments.
3-D object modeling and recognition for telerobotic manipulation

This paper describes a system that semi-automatically builds a virtual world for remote operations by constructing 3-D models of a robot's work environment. With a minimum of human interaction, planar and quadric surface representations of objects typically found in man-made facilities are generated from laser rangefinder data. The surface representations are used to recognize complex models of objects in the scene. These object models are incorporated into a larger world model that can be viewed and analyzed by the operator, accessed by motion planning and robot safeguarding algorithms, and ultimately used by the operator to command the robot through graphical programming and other high level constructs. Limited operator interaction, combined with assumptions about the robots task environment, make the problem of modeling and recognizing objects tractable and yields a solution that can be readily incorporated into many telerobotic control schemes.
Task Oriented Vision

This paper overviews two recently completed vision systems (a rock sampling system for planetary rovers and a bin-picking system fair industrial robots). Then, we will examine the reasori why these two systems have different architectures although their goals are roughly same, picking up something by visual observation. Based on this discussion, we will1 develop the task-oriented vision paradigm, and examine the difference between the task-oriented vision pairacligm and the traditional Marr 's paradigm. We will nlso explore the research issues necessary for completing the taskoriented vision paradigm.
Multi-label informed latent semantic indexing

Latent semantic indexing (LSI) is a well-known unsupervised approach for dimensionality reduction in information retrieval. However if the output information (i.e. category labels) is available, it is often beneficial to derive the indexing not only based on the inputs but also on the target values in the training data set. This is of particular importance in applications with multiple labels, in which each document can belong to several categories simultaneously. In this paper we introduce the multi-label informed latent semantic indexing (MLSI) algorithm which preserves the information of inputs and meanwhile captures the correlations between the multiple outputs. The recovered "latent semantics" thus incorporate the human-annotated category information and can be used to greatly improve the prediction accuracy. Empirical study based on two data sets, Reuters-21578 and RCV1, demonstrates very encouraging results.
Dirichlet enhanced relational learning

We apply nonparametric hierarchical Bayesian modelling to relational learning. In a hierarchical Bayesian approach, model parameters can be "personalized", i.e., owned by entities or relationships, and are coupled via a common prior distribution. Flexibility is added in a nonparametric hierarchical Bayesian approach, such that the learned knowledge can be truthfully represented. We apply our approach to a medical domain where we form a nonparametric hierarchical Bayesian model for relations involving hospitals, patients, procedures and diagnosis. The experiments show that the additional flexibility in a nonparametric hierarchical Bayes approach results in a more accurate model of the dependencies between procedures and diagnosis and gives significantly improved estimates of the probabilities of future procedures.
Transductive Experiment Design

This paper considers the problem of selecting the most informative experiments x to get measures y for learning an inference model y = f(x). We propose a novel concept for active learning, transductive experiment design, to overcome the shortcomings of existing experiment design methods, e.g. insucient exploration of available unmeasured data and poor scalability for large data sets. In-depth analysis clearly shows that the method tends to favor experiments that are hard to predict and meanwhile typical in representing remaining hard-to-predict data. Ecient solutions are further developed through mathematical programming techniques. Encouraging results on toy problems and real-world data sets are included to highlight the advantages of the proposed approaches.
Multi-output regularized projection

Dimensionality reduction via feature projection has been widely used in pattern recognition and machine learning. It is often beneficial to derive the projections not only based on the inputs but also on the target values in the training data set. This is of particular importance in predicting multivariate or structured outputs which is an area of growing interest. In this paper we introduce a novel projection framework which is sensitive to both input features and outputs. Based on the derived features prediction accuracy can be greatly improved. We validate our approach in two applications. The first is to model users' preferences on a set of paintings. The second application is concerned with image categorization where each image may belong to multiple categories. The proposed algorithm produces very encouraging results in both settings.
A Probabilistic Clustering-Projection Model for Discrete Data

For discrete co-occurrence data like documents and words, calculating optimal projections and clustering are two different but related tasks. The goal of projection is to find a low-dimensional latent space for words, and clustering aims at grouping documents based on their feature representations. In general projection and clustering are studied independently, but they both represent the intrinsic structure of data and should reinforce each other. In this paper we introduce a probabilistic clustering-projection (PCP) model for discrete data, where they are both represented in a unified framework. Clustering is seen to be performed in the projected space, and projection explicitly considers clustering structure. Iterating the two operations turns out to be exactly the variational EM algorithm under Bayesian model inference, and thus is guaranteed to improve the data likelihood. The model is evaluated on two text data sets, both showing very encouraging results.
Soft Clustering on Graphs

We propose a simple clustering framework on graphs encoding pairwise data similarities. Unlike usual similarity-based methods, the approach softly assigns data to clusters in a probabilistic way. More importantly, a hierarchical clustering is naturally derived in this framework to gradually merge lower-level clusters into higher-level ones. A random walk analysis indicates that the algorithm exposes clustering structures in various resolutions, i.e., a higher level statistically models a longer-term diffusion on graphs and thus discovers a more global clustering structure. Finally we provide very encouraging experimental results.
Dirichlet Enhanced Latent Semantic Analysis

This paper describes nonparametric Bayesian treatments for analyzing records containing occurrences of items. The introduced model retains the strength of previous approaches that explore the latent factors of each record (e.g. topics of documents), and further uncovers the clustering structure of records, which reflects the statistical dependencies of the latent factors. The nonparametric model induced by a Dirichlet process (DP) flexibly adapts model complexity to reveal the clustering structure of the data. To avoid the problems of dealing with infinite dimensions, we further replace the DP prior by a simpler alternative, namely Dirichlet-multinomial allocation (DMA), which maintains the main modelling properties of the DP. Instead of relying on Markov chain Monte Carlo (MCMC) for inference, this paper applies efficient variational inference based on DMA. The proposed approach yields encouraging empirical results on both a toy problem and text data. The results show that the proposed algorithm uncovers not only the latent factors, but also the clustering structure.
Proceedings of the NIPS 2005 Workshop on Learning to Rank

In label-ranking, the goal is to learn a mapping from instances to rankings (total orders) over a fixed set of labels. Hitherto existing approaches to label-ranking implicitly operate on an underlying (utility) scale which is not calibrated, that is, which lacks a natural zero point. Since this severely restricts the expressive power of these approaches, we propose a suitable extension of the constraint classification framework to labelranking. Beyond the general case, we focus on a particular category of ranking problems which admit a representation as a special instance of calibrated label-ranking: In top label-ranking, an extension of multilabel classification an ordering is required for the subset of labels relevant for the given instance.
Hierarchy-regularized latent semantic indexing

Organizing textual documents into a hierarchical taxonomy is a common practice in knowledge management. Beside textual features, the hierarchical structure of directories reflect additional and important knowledge annotated by experts. It is generally desired to incorporate this information into text mining processes. In this paper, we propose hierarchy-regularized latent semantic indexing, which encodes the hierarchy into a similarity graph of documents and then formulates an optimization problem mapping each document into a low dimensional vector space. The new feature space preserves the intrinsic structure of the original taxonomy and thus provides a meaningful basis for various learning tasks like visualization and classification. Our approach employs the information about class proximity and class specificity, and can naturally cope with multi-labeled documents. Our empirical studies show very encouraging results on two real-world data sets, the new Reuters (RCVI) benchmark and the Swissprot protein database.
Scaling Kernel-Based Systems to Large Data Sets

In the form of the support vector machine and Gaussian processes, kernel-based systems are currently very popular approaches to supervised learning. Unfortunately, the computational load for training kernel-based systems increases drastically with the size of the training data set, such that these systems are not ideal candidates for applications with large data sets. Nevertheless, research in this direction is very active. In this paper, I review some of the current approaches toward scaling kernel-based systems to large data sets.
A nonparametric hierarchical bayesian framework for information filtering

Information filtering has made considerable progress in recent years. The predominant approaches are content-based methods and collaborative methods. Researchers have largely concentrated on either of the two approaches since a principled unifying framework is still lacking. This paper suggests that both approaches can be combined under a hierarchical Bayesian framework. Individual content-based user profiles are generated and collaboration between various user models is achieved via a common learned prior distribution. However, it turns out that a parametric distribution (e.g. Gaussian) is too restrictive to describe such a common learned prior distribution. We thus introduce a nonparametric common prior, which is a sample generated from a Dirichlet process which assumes the role of a hyper prior. We describe effective means to learn this nonparametric distribution, and apply it to learn users' information needs. The resultant algorithm is simple and understandable, and offers a principled solution to combine content-based filtering and collaborative filtering. Within our framework, we are now able to interpret various existing techniques from a unifying point of view. Finally we demonstrate the empirical success of the proposed information filtering methods.
Representing Probabilistic Rules with Networks of Gaussian Basis Functions

There is great interest in understanding the intrinsic knowledge neural networks have acquired during training. Most work in this direction is focussed on the multi-layer perceptron architecture. The topic of this paper is networks of Gaussian basis functions which are used extensively as learning systems in neural computation. We show that networks of Gaussian basis functions can be generated from simple probabilistic rules. Also, if appropriate learning rules are used, probabilistic rules can be extracted from trained networks. We present methods for the reduction of network complexity with the goal of obtaining concise and meaningful rules. We show how prior knowledge can be refined or supplemented using data by employing either a Bayesian approach, by a weighted combination of knowledge bases, or by generating artificial training data representing the prior knowledge. We validate our approach using a standard statistical data set.
Heterogenous Data Fusion via a Probabilistic Latent-Variable Model

In a pervasive computing environment, one is facing the problem of handling heterogeneous data from different sources, transmitted over heterogeneous channels and presented on heterogeneous user interfaces. This calls for adaptive data representations keeping as much relevant information as possible while keeping the representation as small as possible. Typically, the gathered data can be high-dimensional vectors with different types of attributes, e.g. continuous, binary and categorical data. In this paper we present – as a first step – a probabilistic latent-variable model, which is capable of fusing high-dimensional heterogenous data into a unified low-dimensional continuous space, and thus brings great benefits for multivariate data analysis, visualization and dimensionality reduction. We adopt a variational approximation to the likelihood of observed data and describe an EM algorithm to fit the model. The advantages of the proposed model are illustrated on toy data and used on real-world painting image data for both visualization and recommendation.
Generative binary
codes

AbstractA generative or latent variable model corresponds to a
Bayesian network where arcs point from (presumed) hidden sources
to observed variables. In this paper we introduce a particular
generative model with binary
valued hidden sources (i. e. each source can be either ‘on’ or
‘off’) but continuous observable variables. The purpose of this
model is to learn a binary,
distributed code for continuous data, for example to
learn a bit code for gray value image data. For inference we
rely on a mean field approximation. A novel and surprisingly
simple derivation of general mean field equations is given. The
structure of our model is chosen such that it is optimally
suited for the structure of mean field inference. Hence, the
mean field equations can be solved efficiently even with a few
hundred hidden nodes, thus allowing one to learn highly
distributed codes. For learning the parameters in the generative
model from data, an appropriate EM-procedure is derived. In the
second part of the paper we employ our approach to learning a
sparse representation of natural images which is applied to code
and to denoise images. The image compression rate is comparable
to JPEG-coding and image denoising clearly outperforms standard
methods such as Wiener filtering. In the outlook we present
potential further directions of research in particular with
respect to a more complex hidden topography.
A Hybrid Relevance-Feedback Approach to Text Retrieval

Relevance feedback (RF) has been an effective query modification approach to improving the performance of information retrieval (IR) by interactively asking a user whether a set of documents are relevant or not to a given query concept. The conventional RF algorithms either converge slowly or cost a user's additional efforts in reading irrelevant documents. This paper surveys several RF algorithms and introduces a novel hybrid RF approach using a support vector machine (HRFSVM), which actively selects the uncertain documents as well as the most relevant ones on which to ask users for feedback. It can efficiently rank documents in a natural way for user browsing. We conduct experiments on Reuters-21578 dataset and track the precision as a function of feedback iterations. Experimental results have shown that HRFSVM significantly outperforms two other RF algorithms.
The Equivalence between Row and Column Linear Regression

A pressure infusor for introduction of fluids into the human body. Two sheets of polyurethane overlie each other and are continuously sealed to form an air-inflatable bladder. A strip of polyurethane projects from one vertical margin of the bladder to wrap completely around the liquid-filled bag. A narrow elongated strap is centrally attached to one margin of the infusor and is long enough to wrap completely about the infusor with a bag enclosed. Velcro strips are secured to the strap so that it can be fastened upon itself.
Knowing a tree from the forest: art image retrieval using a society of profiles

This paper aims to address the problem of art image retrieval (AIR), which aims to help users find their favorite painting images. AIR is of great interests to us because of its application potentials and interesting research challenges---the retrieval is not only based on painting contents or styles, but also heavily based on user preference profiles. This paper describes the collaborative ensemble learning, a novel statistical learning approach to this task. It at first applies probabilistic support vector machines (SVMs) to model each individual user's profile based on given examples, i.e. liked or disliked paintings. Due to the high complexity of profile modelling, the SVMs can be rather weak in predicting preferences for new paintings. To overcome this problem, we combine a society of users' profiles, represented by their respective SVM models, to predict a given user's preferences for painting images. We demonstrate that the combination scheme is embedded in a Bayesian framework and retains intuitive interpretations---like-minded users are likely to share similar preferences. We report extensive empirical studies based on two experimental settings. The first one includes some controlled simulations performed on 4533 painting images. In the second setting, we report evaluations based on user preferences collected through an online web-based survey. Both experiments demonstrate that the proposed approach achieves excellent performance in terms of capturing a user's diverse preferences.
An Introduction to Nonparametric Hierarchical Bayesian Modelling with a Focus on Multi-agent Learning

In this chapter, we address the situation where agents need to learn from one another by exchanging learned knowledge. We employ hierarchical Bayesian modelling, which provides a powerful and principled solution. We point out some shortcomings of parametric hierarchical Bayesian modelling and thus focus on a nonparametric approach. Nonparametric hierarchical Bayesian modelling has its roots in Bayesian statistics and, in the form of Dirichlet process mixture modelling, was recently introduced into the machine learning community. In this chapter, we hope to provide an accessible introduction to this particular branch of statistics. We present the standard sampling-based learning algorithms and introduce a particular EM learning approach that leads to efficient and plausible solutions. We illustrate the effectiveness of our approach in context of a recommendation engine where our approach allows the principled combination of content-based and collaborative filtering.