City University of Hong Kong（香港城市大学）；Tsinghua University（清华大学）；Beijing University of Posts and Telecommunications（北京邮电大学）；Wuhan University（武汉大学）；ContinualAI Research（ContinualAI研究院）；University of Bologna（博洛尼亚大学）；University of Hamburg（汉堡大学）；Intel Labs（英特尔研究院）
Qi She, Fan Feng, Qi Liu, Rosa H. M. Chan, Xinyue Hao, Chuanlin Lan, Qihan Yang, Vincenzo Lomonaco, German I. Parisi, Heechul Bae, Eoin Brophy, Baoquan Chen, Ga… 展开作者
Qi She, Fan Feng, Qi Liu, Rosa H. M. Chan, Xinyue Hao, Chuanlin Lan, Qihan Yang, Vincenzo Lomonaco, German I. Parisi, Heechul Bae, Eoin Brophy, Baoquan Chen, Gabriele Graffieti, Vidit Goel, Hyonyoung Han, Sathursan Kanagarajah, Somesh Kumar, Siew-Kei Lam, Tin Lun Lam, Liang Ma, Davide Maltoni, Lorenzo Pellegrini, Duvindu Piyasena, Shiliang Pu, Debdoot Sheet, Soonyong Song, Youngsung Son, Zhengwei Wang, Tomas E. Ward, Jianwen Wu, Meiqing Wu, Di Xie, Yangsheng Xu, Lin Yang, Qiaoyong Zhong, Liguang Zhou
备注：
9 pages, 11 figures, 3 tables, accepted into IEEE Robotics and Automation Magazine. arXiv admin note: text overlap with arXiv:1911.06487
This report summarizes IROS 2019-Lifelong Robotic Vision Competition (Lifelong Object Recognition Challenge) with methods and results from the top $8$ finalists (out of over~$150$ teams). The competition dataset (L)ifel(O)ng (R)obotic V(IS)ion (OpenLORIS) - Object Recognition (OpenLORIS-object) is designed for driving lifelong/continual learning research and application in robotic vision domain, with everyday objects in home, office, campus, and mall scenarios. The dataset explicitly quantifies the variants of illumination, object occlusion, object size, camera-object distance/angles, and clutter information. Rules are designed to quantify the learning capability of the robotic vision system when faced with the objects appearing in the dynamic environments in the contest. Individual reports, dataset information, rules, and released source code can be found at the project homepage: "https://lifelong-robotic-vision.github.io/competition/".
Intel Labs（英特尔实验室）；City University of Hong Kong（香港城市大学）；Tsinghua University（清华大学）；Beijing University of Posts and Telecommunications（北京邮电大学）；Wuhan University（武汉大学）；University of Bologna（博洛尼亚大学）；Dublin City University（都柏林城市大学）；Imperial College London（帝国理工学院）
The recent breakthroughs in computer vision have benefited from the availability of large representative datasets (e.g. ImageNet and COCO) for training. Yet, robotic vision poses unique challenges for applying visual algorithms developed from these standard computer vision datasets due to their implicit assumption over non-varying distributions for a fixed set of tasks. Fully retraining models each time a new task becomes available is infeasible due to computational, storage and sometimes privacy issues, while naïve incremental strategies have been shown to suffer from catastrophic forgetting.…
Beijing Jiaotong University（北京交通大学）；Intel Labs China（英特尔中国实验室）；Beihang University（北京航空航天大学）；Tsinghua University（清华大学）；Gaussian Robotics（高斯机器人）；Department of Electronic Engineering and BNRist（电子工程系和BNRist）
Service robots should be able to operate autonomously in dynamic and daily changing environments over an extended period of time. While Simultaneous Localization And Mapping (SLAM) is one of the most fundamental problems for robotic autonomy, most existing SLAM works are evaluated with data sequences that are recorded in a short period of time. In real-world deployment, there can be out-of-sight scene changes caused by both natural factors and human activities. For example, in home scenarios, most objects may be movable, replaceable or deformable, and the visual features of the same place may …
The role of deep learning (DL) in robotics has significantly deepened over the last decade. Intelligent robotic systems today are highly connected systems that rely on DL for a variety of perception, control, and other tasks. At the same time, autonomous robots are being increasingly deployed as part of fleets, with collaboration among robots becoming a more relevant factor. From the perspective of collaborative learning, federated learning (FL) enables continuous training of models in a distributed, privacy-preserving way. This paper focuses on vision-based obstacle avoidance for mobile robot…
Online few-shot learning describes a setting where models are trained and evaluated on a stream of data while learning emerging classes. While prior work in this setting has achieved very promising performance on instance classification when learning from data-streams composed of a single indoor environment, we propose to extend this setting to consider object classification on a series of several indoor environments, which is likely to occur in applications such as robotics. Importantly, our setting, which we refer to as online few-shot continual learning, injects the well-studied issue of ca…
Learning from Demonstration (LfD) approaches empower end-users to teach robots novel tasks via demonstrations of the desired behaviors, democratizing access to robotics. A key challenge in LfD research is that users tend to provide heterogeneous demonstrations for the same task due to various strategies and preferences. Therefore, it is essential to develop LfD algorithms that ensure \textit{flexibility} (the robot adapts to personalized strategies), \textit{efficiency} (the robot achieves sample-efficient adaptation), and \textit{scalability} (robot reuses a concise set of strategies to repre…
Istituto Italiano di Tecnologia（意大利技术研究院）；Università degli Studi di Genova（热那亚大学）
As the size and richness of available datasets grow larger, the opportunities for solving increasingly challenging problems with algorithms learning directly from data grow at the same pace. Consequently, the capability of learning algorithms to work with large amounts of data has become a crucial scientific and technological challenge for their practical applicability. Hence, it is no surprise that large-scale learning is currently drawing plenty of research effort in the machine learning research community. In this thesis, we focus on kernel methods, a theoretically sound and effective class…
Istituto Italiano di Tecnologia（意大利技术研究院）；MIT（麻省理工学院）；Università degli Studi di Genova（热那亚大学）
We consider object recognition in the context of lifelong learning, where a robotic agent learns to discriminate between a growing number of object classes as it accumulates experience about the environment. We propose an incremental variant of the Regularized Least Squares for Classification (RLSC) algorithm, and exploit its structure to seamlessly add new classes to the learned model. The presented algorithm addresses the problem of having an unbalanced proportion of training examples per class, which occurs when new objects are presented to the system for the first time. We evaluate our alg…
Alma Mater Studiorum - University of Bologna（博洛尼亚大学）
Continuous/Lifelong learning of high-dimensional data streams is a challenging research problem. In fact, fully retraining models each time new data become available is infeasible, due to computational and storage issues, while naïve incremental strategies have been shown to suffer from catastrophic forgetting. In the context of real-world object recognition applications (e.g., robotic vision), where continuous learning is crucial, very few datasets and benchmarks are available to evaluate and compare emerging techniques. In this work we propose a new dataset and benchmark CORe50, specifically…
Ritsumeikan University（立命馆大学）；Keio University（庆应义塾大学）；The University of Tokyo（东京大学）；Università Milano-Bicocca（米兰比可卡大学）；University of Essex（埃塞克斯大学）；Donders Institute for Brain, Cognition and Behaviour（唐德斯脑、认知与行为研究所）；Cajal International Neuroscience Center, Spanish National Research Council（西班牙国家研究委员会卡哈尔国际神经科学中心）；Bogazici University（博阿齐奇大学）；Queen Mary University of London（伦敦玛丽女王大学）；The University of Electro-Communications（电气通信大学）；National Autonomous University of Mexico（墨西哥国立自治大学）；Universidad Autónoma del Estado de Morelos（莫雷洛斯州自治大学）；Institute of Cognitive Sciences and Technologies, National Research Council of Italy（意大利国家研究委员会认知科学与技术研究所）
Creating autonomous robots that can actively explore the environment, acquire knowledge and learn skills continuously is the ultimate achievement envisioned in cognitive and developmental robotics. Their learning processes should be based on interactions with their physical and social world in the manner of human learning and cognitive development. Based on this context, in this paper, we focus on the two concepts of world models and predictive coding. Recently, world models have attracted renewed attention as a topic of considerable interest in artificial intelligence. Cognitive systems learn…
What are the functions of curiosity? What are the mechanisms of curiosity-driven learning? We approach these questions about the living using concepts and tools from machine learning and developmental robotics. We argue that curiosity-driven learning enables organisms to make discoveries to solve complex problems with rare or deceptive rewards. By fostering exploration and discovery of a diversity of behavioural skills, and ignoring these rewards, curiosity can be efficient to bootstrap learning when there is no information, or deceptive information, about local improvement towards these probl…
LifelongPR: Lifelong point cloud place recognition based on sample replay and prompt learning
School of Advanced Manufacturing, Nanchang University（南昌大学先进制造学院）；State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University（武汉测绘遥感信息工程国家重点实验室）；School of Electrical and Electronic Engineering, Nanyang Technological University（南洋理工大学电子与电气工程学院）；School of Information Engineering, Nanchang University（南昌大学信息工程学院）
