The problem of sequentially transferring from a source object track and a model to another Bayesian filter has become ubiquitous. Due to the lack of a structural model that can capture the dependence among different models, the transfer may not be fully specified. In this paper, we introduce a novel Bayesian model that accounts for the model-jump from which the object can choose a model and follow. We aim to track the trajectory of the object while sequentially transferring from the source object to the target object. The main idea is to impute the dynamical model while tracking the object and estimating the state parameters of the moving object according to discretized dynamic systems. We demonstrate this procedure can handle the model mismatch as it sequentially corrects the predictive model. Particularly, for a fixed number of motion models, the object can learn what motion to follow at each time step. We employ a prior model for each model and then adaptively correct for changing one model to another to robustly estimate object trajectory under various motions. More concretely, we propose a robust Bayesian recipe to handle the model-jump and then integrate it with a Markov chain Monte Carlo (MCMC) approach to sample from the posterior distribution. We demonstrate through experiments the advantage of accounting for model-jump in our proposed method for knowledge transfer between learning tasks in Bayesian transfer learning.
Virginia Tech（弗吉尼亚理工大学）；US Army Research Laboratory（美国陆军研究实验室）
A key component of cognitive radar is the ability to generalize, or achieve consistent performance across a range of sensing environments, since aspects of the physical scene may vary over time. This presents a challenge for learning-based waveform selection approaches, since transmission policies which are effective in one scene may be highly suboptimal in another. We address this problem by strategically biasing a learning algorithm by exploiting high-level structure across tracking instances, referred to as meta-learning. In this work, we develop an online meta-learning approach for wavefor…
Charles University（查理大学）；Faculty Of Mathematics and Physics（数学与物理学院）
Eye-Tracking data is a very useful source of information to study cognition and especially language comprehension in humans. In this paper, we describe our systems for the CMCL 2022 shared task on predicting eye-tracking information. We describe our experiments with pretrained models like BERT and XLM and the different ways in which we used those representations to predict four eye-tracking features. Along with analysing the effect of using two different kinds of pretrained multilingual language models and different ways of pooling the tokenlevel representations, we also explore how contextual…
The acquisition function, a critical component in Bayesian optimization (BO), can often be written as the expectation of a utility function under a surrogate model. However, to ensure that acquisition functions are tractable to optimize, restrictions must be placed on the surrogate model and utility function. To extend BO to a broader class of models and utilities, we propose likelihood-free BO (LFBO), an approach based on likelihood-free inference. LFBO directly models the acquisition function without having to separately perform inference with a probabilistic surrogate model. We show that co…
Some challenging problems in tracking multiple objects include the time-dependent cardinality, unordered measurements and object parameter labeling. In this paper, we employ Bayesian Bayesian nonparametric methods to address these challenges. In particular, we propose modeling the multiple object parameter state prior using the dependent Dirichlet and Pitman-Yor processes. These nonparametric models have been shown to be more flexible and robust, when compared to existing methods, for estimating the time-varying number of objects, providing object labeling and identifying measurement to object…
Message Passing Based Two-Timescale Bayesian Learning for Joint Channel and Memory Hardware Impairments Tracking
Zhejiang University（浙江大学）；National Key Laboratory of Millimeter-Wave and Terahertz Remote Sensing（毫米波与太赫兹遥感全国重点实验室）；Zhejiang Provincial Key Laboratory of Information Processing, Communication and Networking (IPCAN)（浙江省信息处理、通信与网络重点实验室）；Zhejiang Provincial Key Laboratory of Multi-Modal Communication Networks and Intelligent Information Processing（浙江省多模态通信网络与智能信息处理重点实验室）
Sorbonne Université（索邦大学）；CNRS（法国国家科学研究中心）；Électricité de France R&D（法国电力研发中心）
We consider the problem of time series forecasting in an adaptive setting. We focus on the inference of state-space models under unknown and potentially time-varying noise variances. We introduce an augmented model in which the variances are represented as auxiliary gaussian latent variables in a tracking mode. As variances are nonnegative, a transformation is chosen and applied to these latent variables. The inference relies on the online variational Bayesian methodology, which consists in minimizing a Kullback-Leibler divergence at each time step. We observe that the minimum of the Kullback-…
We study the tracking problem, namely, estimating the hidden state of an object over time, from unreliable and noisy measurements. The standard framework for the tracking problem is the generative framework, which is the basis of solutions such as the Bayesian algorithm and its approximation, the particle filters. However, the problem with these solutions is that they are very sensitive to model mismatches. In this paper, motivated by online learning, we introduce a new framework -- an {\em explanatory} framework -- for tracking. We provide an efficient tracking algorithm for this framework. W…
We study the tracking problem, namely, estimating the hidden state of an object over time, from unreliable and noisy measurements. The standard framework for the tracking problem is the generative framework, which is the basis of solutions such as the Bayesian algorithm and its approximation, the particle filters. However, these solutions can be very sensitive to model mismatches. In this paper, motivated by online learning, we introduce a new framework for tracking. We provide an efficient tracking algorithm for this framework. We provide experimental results comparing our algorithm to the Ba…
In events that are composed by many activities, there is a problem that involves retrieve and management the information of visitors that are visiting the activities. This management is crucial to find some activities that are drawing attention of visitors; identify an ideal positioning for activities; which path is more frequented by visitors. In this work, these features are studied using Complex Network theory. For the beginning, an artificial database was generated to study the mentioned features. Secondly, this work shows a method to optimize the event structure that is better than a rand…
Single-spin quantum sensors, for example based on nitrogen-vacancy centres in diamond, provide nanoscale mapping of magnetic fields. In applications where the magnetic field may be changing rapidly, total sensing time is crucial and must be minimised. Bayesian estimation and adaptive experiment optimisation can speed up the sensing process by reducing the number of measurements required. These protocols consist of computing and updating the probability distribution of the magnetic field based on measurement outcomes and of determining optimized acquisition settings for the next measurement. Ho…
In inverse problems, uncertainty quantification (UQ) deals with a probabilistic description of the solution nonuniqueness and data noise sensitivity. Setting seismic imaging into a Bayesian framework allows for a principled way of studying uncertainty by solving for the model posterior distribution. Imaging, however, typically constitutes only the first stage of a sequential workflow, and UQ becomes even more relevant when applied to subsequent tasks that are highly sensitive to the inversion outcome. In this paper, we focus on how UQ trickles down to horizon tracking for the determination of …
In recent years, multi object tracking (MOT) problem has drawn attention to it and has been studied in various research areas. However, some of the challenging problems including time dependent cardinality, unordered measurement set, and object labeling remain unclear. In this paper, we propose robust nonparametric methods to model the state prior for MOT problem. These models are shown to be more flexible and robust compared to existing methods. In particular, the overall approach estimates time dependent object cardinality, provides object labeling, and identifies object associated measureme…
Bayesian Multiobject Tracking With Neural-Enhanced Motion and Measurement Models
Department of Electrical and Computer Engineering, University of California San Diego（电气与计算机工程系，加州大学圣地亚哥分校）；Scripps Institution of Oceanography（斯克里普斯海洋研究所）
Aalborg University（奥尔堡大学）；Aston University（阿斯顿大学）；Massachusetts Institute of Technology（麻省理工学院）
Fundamental frequency is one of the most important characteristics of speech and audio signals. Harmonic model-based fundamental frequency estimators offer a higher estimation accuracy and robustness against noise than the widely used autocorrelation-based methods. However, the traditional harmonic model-based estimators do not take the temporal smoothness of the fundamental frequency, the model order, and the voicing into account as they process each data segment independently. In this paper, a fully Bayesian fundamental frequency tracking algorithm based on the harmonic model and a first-ord…
Robust tracking of a target in a clutter environment is an important and challenging task. In recent years, the nearest neighbor methods and probabilistic data association filters were proposed. However, the performance of these methods diminishes as the number of measurements increases. In this paper, we propose a robust generative approach to effectively model multiple sensor measurements for tracking a moving target in an environment with high clutter. We assume a time-dependent number of measurements that include sensor observations with unknown origin, some of which may only contain clutt…
Heidelberg University（海德堡大学）；Bosch Center for Artificial Intelligence（博世人工智能中心）
Neural Stochastic Differential Equations model a dynamical environment with neural nets assigned to their drift and diffusion terms. The high expressive power of their nonlinearity comes at the expense of instability in the identification of the large set of free parameters. This paper presents a recipe to improve the prediction accuracy of such models in three steps: i) accounting for epistemic uncertainty by assuming probabilistic weights, ii) incorporation of partial knowledge on the state dynamics, and iii) training the resultant hybrid model by an objective derived from a PAC-Bayesian gen…
Multi-object tracking (MOT) is the problem of tracking the state of an unknown and time-varying number of objects using noisy measurements, with important applications such as autonomous driving, tracking animal behavior, defense systems, and others. In recent years, deep learning (DL) has been increasingly used in MOT for improving tracking performance, but mostly in settings where the measurements are high-dimensional and there are no available models of the measurement likelihood and the object dynamics. The model-based setting instead has not attracted as much attention, and it is still un…
Middle East Technical University（中东技术大学）；Department of Electrical and Electronics Engineering（电气与电子工程系）
Extended target/object tracking (ETT) problem involves tracking objects which potentially generate multiple measurements at a single sensor scan. State-of-the-art ETT algorithms can efficiently exploit the available information in these measurements such that they can track the dynamic behaviour of objects and learn their shapes simultaneously. Once the shape estimate of an object is formed, it can naturally be utilized by high-level tasks such as classification of the object type. In this work, we propose to use a naively deep neural network, which consists of one input, two hidden and one ou…
Volkswagen Group Machine Learning Research Lab（大众集团机器学习研究实验室）
We address tracking and prediction of multiple moving objects in visual data streams as inference and sampling in a disentangled latent state-space model. By encoding objects separately and including explicit position information in the latent state space, we perform tracking via amortized variational Bayesian inference of the respective latent positions. Inference is implemented in a modular neural framework tailored towards our disentangled latent space. Generative and inference model are jointly learned from observations only. Comparing to related prior work, we empirically show that our Ma…
PiVoT: A Variational Solution for Real-time Large-scale Multi-object Detection and Tracking under Heavy Clutter
Institute for Imaging, Data and Communications (IDCOM), University of Edinburgh（爱丁堡大学成像、数据与通信研究所（IDCOM））；Department of Engineering, University of Cambridge（剑桥大学工程系）；School of Mathematics, University of Edinburgh（爱丁堡大学数学学院）
