The Perceiver makes few architectural assumptions about the relationship among its inputs with quadratic scalability on its memory and computation time. Indeed, the Perceiver model outpaces or is competitive with ResNet-50 and ViT in terms of accuracy to some degree. However, the Perceiver does not take predictive uncertainty and calibration into account. The Perceiver also generalizes its performance on three datasets, three models, one evaluation metric, and one hyper-parameter setting. Worst of all, the Perceiver's relative performance improvement against other models is marginal. Furthermore, its reduction of architectural prior is not substantial; is not equivalent to its quality. Thereby, I invented five mutations of the Perceiver, the Uncertainty-Aware Perceivers, that obtain uncertainty estimates and measured their performance on three metrics. Experimented with CIFAR-10 and CIFAR-100, the Uncertainty-Aware Perceivers make considerable performance enhancement compared to the Perceiver.
Collaborative Perceiver: Elevating Vision-based 3D Object Detection via Local Density-Aware Spatial Occupancy
The Open Distributed Systems (ODS) Group at the Technische Universität Berlin（技术大学柏林开放分布式系统（ODS）小组）；Fraunhofer FOKUS (Berlin, Germany)（弗劳恩霍夫研究所FOKUS（柏林，德国））
University of Tehran（德黑兰大学）；Deakin University（迪肯大学）；University of Calgary（卡尔加里大学）
Uncertainty quantification of machine learning and deep learning methods plays an important role in enhancing trust to the obtained result. In recent years, a numerous number of uncertainty quantification methods have been introduced. Monte Carlo dropout (MC-Dropout) is one of the most well-known techniques to quantify uncertainty in deep learning methods. In this study, we propose two new loss functions by combining cross entropy with Expected Calibration Error (ECE) and Predictive Entropy (PE). The obtained results clearly show that the new proposed loss functions lead to having a calibrated…
Manipal Institute of Technology（马尼帕尔理工学院）；Manipal Academy of Higher Education（马尼帕尔高等教育学院）
Deep Ensemble Convolutional Neural Networks has become a methodology of choice for analyzing medical images with a diagnostic performance comparable to a physician, including the diagnosis of Diabetic Retinopathy. However, commonly used techniques are deterministic and are therefore unable to provide any estimate of predictive uncertainty. Quantifying model uncertainty is crucial for reducing the risk of misdiagnosis. A reliable architecture should be well-calibrated to avoid over-confident predictions. To address this, we propose a UATTA-ENS: Uncertainty-Aware Test-Time Augmented Ensemble Tec…
For responsible decision making in safety-critical settings, machine learning models must effectively detect and process edge-case data. Although existing works show that predictive uncertainty is useful for these tasks, it is not evident from literature which uncertainty-aware models are best suited for a given dataset. Thus, we compare six uncertainty-aware deep learning models on a set of edge-case tasks: robustness to adversarial attacks as well as out-of-distribution and adversarial detection. We find that the geometry of the data sub-manifold is an important factor in determining the suc…
Calibrated estimates of uncertainty are critical for many real-world computer vision applications of deep learning. While there are several widely-used uncertainty estimation methods, dropout inference stands out for its simplicity and efficacy. This technique, however, requires multiple forward passes through the network during inference and therefore can be too resource-intensive to be deployed in real-time applications. We propose a simple, easy-to-optimize distillation method for learning the conditional predictive distribution of a pre-trained dropout model for fast, sample-free uncertain…
Unpaired image-to-image translation refers to learning inter-image-domain mapping in an unsupervised manner. Existing methods often learn deterministic mappings without explicitly modelling the robustness to outliers or predictive uncertainty, leading to performance degradation when encountering unseen out-of-distribution (OOD) patterns at test time. To address this limitation, we propose a novel probabilistic method called Uncertainty-aware Generalized Adaptive Cycle Consistency (UGAC), which models the per-pixel residual by generalized Gaussian distribution, capable of modelling heavy-tailed…
Max Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所）；University of Tübingen（图宾根大学）
Unpaired image-to-image translation refers to learning inter-image-domain mapping without corresponding image pairs. Existing methods learn deterministic mappings without explicitly modelling the robustness to outliers or predictive uncertainty, leading to performance degradation when encountering unseen perturbations at test time. To address this, we propose a novel probabilistic method based on Uncertainty-aware Generalized Adaptive Cycle Consistency (UGAC), which models the per-pixel residual by generalized Gaussian distribution, capable of modelling heavy-tailed distributions. We compare o…
Adaptive Uncertainty-Aware Tree Search for Robust Reasoning
Institute of Software Chinese Academy of Sciences, Beijing, China（中国科学院软件研究所）；University of the Chinese Academy of Sciences（中国科学院大学）；Multimodal Experiences Lab, Dolby Laboratories Inc（多模态体验实验室，Dolby Laboratories Inc）；Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University（人工智能与机器人研究所，西安交通大学）；Electronic Information Science and Technology, Central South University（电子信息科学与技术，中南大学）
Data-driven visual odometry (VO) is a critical subroutine for autonomous edge robotics, and recent progress in the field has produced highly accurate point predictions in complex environments. However, emerging autonomous edge robotics devices like insect-scale drones and surgical robots lack a computationally efficient framework to estimate VO's predictive uncertainties. Meanwhile, as edge robotics continue to proliferate into mission-critical application spaces, awareness of model's the predictive uncertainties has become crucial for risk-aware decision-making. This paper addresses this chal…
Precise estimation of uncertainty in predictions for AI systems is a critical factor in ensuring trust and safety. Deep neural networks trained with a conventional method are prone to over-confident predictions. In contrast to Bayesian neural networks that learn approximate distributions on weights to infer prediction confidence, we propose a novel method, Information Aware Dirichlet networks, that learn an explicit Dirichlet prior distribution on predictive distributions by minimizing a bound on the expected max norm of the prediction error and penalizing information associated with incorrect…
As we move away from the data, the predictive uncertainty should increase, since a great variety of explanations are consistent with the little available information. We introduce Distance-Aware Prior (DAP) calibration, a method to correct overconfidence of Bayesian deep learning models outside of the training domain. We define DAPs as prior distributions over the model parameters that depend on the inputs through a measure of their distance from the training set. DAP calibration is agnostic to the posterior inference method, and it can be performed as a post-processing step. We demonstrate it…
Deep neural networks (DNNs) provide state-of-the-art results for a multitude of applications, but the approaches using DNNs for multimodal audiovisual applications do not consider predictive uncertainty associated with individual modalities. Bayesian deep learning methods provide principled confidence and quantify predictive uncertainty. Our contribution in this work is to propose an uncertainty aware multimodal Bayesian fusion framework for activity recognition. We demonstrate a novel approach that combines deterministic and variational layers to scale Bayesian DNNs to deeper architectures. O…
Object detection and tracking is a key task in autonomy. Specifically, 3D object detection and tracking have been an emerging hot topic recently. Although various methods have been proposed for object detection, uncertainty in the 3D detection and tracking tasks has been less explored. Uncertainty helps us tackle the error in the perception system and improve robustness. In this paper, we propose a method for improving target tracking performance by adding uncertainty regression to the SECOND detector, which is one of the most representative algorithms of 3D object detection. Our method estima…
Peking University（北京大学）；Virginia Military Institute（弗吉尼亚军事学院）
In this paper, we present an uncertainty-aware INVASE to quantify predictive confidence of healthcare problem. By introducing learnable Gaussian distributions, we lever-age their variances to measure the degree of uncertainty. Based on the vanilla INVASE, two additional modules are proposed, i.e., an uncertainty quantification module in the predictor, and a reward shaping module in the selector. We conduct extensive experiments on UCI-WDBC dataset. Notably, our method eliminates almost all predictive bias with only about 20% queries, while the uncertainty-agnostic counterpart requires nearly 1…
Seoul National University（首尔国立大学）；Korea University（高丽大学）
In this paper, we propose an uncertainty-aware learning from demonstration method by presenting a novel uncertainty estimation method utilizing a mixture density network appropriate for modeling complex and noisy human behaviors. The proposed uncertainty acquisition can be done with a single forward path without Monte Carlo sampling and is suitable for real-time robotics applications. The properties of the proposed uncertainty measure are analyzed through three different synthetic examples, absence of data, heavy measurement noise, and composition of functions scenarios. We show that each case…
College of Computer Science and Electronic Engineering, Hunan University（湖南大学计算机科学与电子工程学院）
This work tackles the unsupervised cross-domain object detection problem which aims to generalize a pre-trained object detector to a new target domain without labels. We propose an uncertainty-aware model adaptation method, which is based on two motivations: 1) the estimation and exploitation of model uncertainty in a new domain is critical for reliable domain adaptation; and 2) the joint alignment of distributions for inputs (feature alignment) and outputs (self-training) is needed. To this end, we compose a Bayesian CNN-based framework for uncertainty estimation in object detection, and prop…
We show that ensembling effectively quantifies model uncertainty in Neural Radiance Fields (NeRFs) if a density-aware epistemic uncertainty term is considered. The naive ensembles investigated in prior work simply average rendered RGB images to quantify the model uncertainty caused by conflicting explanations of the observed scene. In contrast, we additionally consider the termination probabilities along individual rays to identify epistemic model uncertainty due to a lack of knowledge about the parts of a scene unobserved during training. We achieve new state-of-the-art performance across est…
Uber Advanced Technologies Group（优步先进技术集团）；Georgia Institute of Technology（佐治亚理工学院）
The capability to detect objects is a core part of autonomous driving. Due to sensor noise and incomplete data, perfectly detecting and localizing every object is infeasible. Therefore, it is important for a detector to provide the amount of uncertainty in each prediction. Providing the autonomous system with reliable uncertainties enables the vehicle to react differently based on the level of uncertainty. Previous work has estimated the uncertainty in a detection by predicting a probability distribution over object bounding boxes. In this work, we propose a method to improve the ability to le…
Skoltech（斯科尔科沃科技学院）；Sberbank（俄罗斯联邦储蓄银行）；Technology Innovation Institute（技术创新研究院）；Lomonosov Moscow State University（莫斯科罗蒙诺索夫国立大学）
The performance of modern deep learning-based systems dramatically depends on the quality of input objects. For example, face recognition quality would be lower for blurry or corrupted inputs. However, it is hard to predict the influence of input quality on the resulting accuracy in more complex scenarios. We propose an approach for deep metric learning that allows direct estimation of the uncertainty with almost no additional computational cost. The developed \textit{ScaleFace} algorithm uses trainable scale values that modify similarities in the space of embeddings. These input-dependent sca…
Human motion prediction is essential for tasks such as human motion analysis and human-robot interactions. Most existing approaches have been proposed to realize motion prediction. However, they ignore an important task, the evaluation of the quality of the predicted result. It is far more enough for current approaches in actual scenarios because people can't know how to interact with the machine without the evaluation of prediction, and unreliable predictions may mislead the machine to harm the human. Hence, we propose an uncertainty-aware framework for human motion prediction (UA-HMP). Concr…
Current person image retrieval methods have achieved great improvements in accuracy metrics. However, they rarely describe the reliability of the prediction. In this paper, we propose an Uncertainty-Aware Learning (UAL) method to remedy this issue. UAL aims at providing reliability-aware predictions by considering data uncertainty and model uncertainty simultaneously. Data uncertainty captures the ``noise" inherent in the sample, while model uncertainty depicts the model's confidence in the sample's prediction. Specifically, in UAL, (1) we propose a sampling-free data uncertainty learning meth…
Northeastern University（东北大学）；University of Connecticut（康涅狄格大学）
Deep learning is the method of choice for trajectory prediction for autonomous vehicles. Unfortunately, its data-hungry nature implicitly requires the availability of sufficiently rich and high-quality centralized datasets, which easily leads to privacy leakage. Besides, uncertainty-awareness becomes increasingly important for safety-crucial cyber physical systems whose prediction module heavily relies on machine learning tools. In this paper, we relax the data collection requirement and enhance uncertainty-awareness by using Federated Learning on Connected Autonomous Vehicles with an uncertai…
University of Science and Technology of China（中国科学技术大学）；Microsoft Research Asia（微软亚洲研究院）；Columbia University（哥伦比亚大学）
Few-shot image classification learns to recognize new categories from limited labelled data. Metric learning based approaches have been widely investigated, where a query sample is classified by finding the nearest prototype from the support set based on their feature similarities. A neural network has different uncertainties on its calculated similarities of different pairs. Understanding and modeling the uncertainty on the similarity could promote the exploitation of limited samples in few-shot optimization. In this work, we propose Uncertainty-Aware Few-Shot framework for image classificati…
Nanjing University of Aeronautics and Astronautics（南京航空航天大学）；PLA Dalian Naval Academy（中国人民解放军大连海军学院）
Image dehazing is fundamental yet not well-solved in computer vision. Most cutting-edge models are trained in synthetic data, leading to the poor performance on real-world hazy scenarios. Besides, they commonly give deterministic dehazed images while neglecting to mine their uncertainty. To bridge the domain gap and enhance the dehazing performance, we propose a novel semi-supervised uncertainty-aware transformer network, called Semi-UFormer. Semi-UFormer can well leverage both the real-world hazy images and their uncertainty guidance information. Specifically, Semi-UFormer builds itself on th…
National Center for Tumor Diseases (NCT)（国家肿瘤疾病中心）
Intra-operative anticipation of instrument usage is a necessary component for context-aware assistance in surgery, e.g. for instrument preparation or semi-automation of robotic tasks. However, the sparsity of instrument occurrences in long videos poses a challenge. Current approaches are limited as they assume knowledge on the timing of future actions or require dense temporal segmentations during training and inference. We propose a novel learning task for anticipation of instrument usage in laparoscopic videos that overcomes these limitations. During training, only sparse instrument annotati…
It is well believed that the higher uncertainty in a word of the caption, the more inter-correlated context information is required to determine it. However, current image captioning methods usually consider the generation of all words in a sentence sequentially and equally. In this paper, we propose an uncertainty-aware image captioning framework, which parallelly and iteratively operates insertion of discontinuous candidate words between existing words from easy to difficult until converged. We hypothesize that high-uncertainty words in a sentence need more prior information to make a correc…
Proximity-Based Evidence Retrieval for Uncertainty-Aware Neural Networks
Faculty of Engineering & IT, University of Technology Sydney（悉尼技术大学工程与信息学院）；University Research and Innovation Center (EKIK), Óbuda University（奥布达大学研究与创新中心）
ModelNet40-E: An Uncertainty-Aware Benchmark for Point Cloud Classification
School of Computing and Artificial Intelligence, Southwest Jiaotong University（计算机与人工智能学院，西南交通大学）；Engineering Research Center of Sustainable Urban Intelligent Transportation, Ministry of Education, Chengdu, China（可持续城市智能交通工程研究中心，教育部，成都，中国）
本文提出带逐点不确定性标注的 ModelNet40-E 噪声点云基准，并评估 PointNet、DGCNN 和 Point Transformer v3，表明 Point Transformer v3 校准更优。
We propose a robust and efficient method for multiview triangulation and uncertainty estimation. Our contribution is threefold: First, we propose an outlier rejection scheme using two-view RANSAC with the midpoint method. By prescreening the two-view samples prior to triangulation, we achieve the state-of-the-art efficiency. Second, we compare different local optimization methods for refining the initial solution and the inlier set. With an iterative update of the inlier set, we show that the optimization provides significant improvement in accuracy and robustness. Third, we model the uncertai…
UCAD: Uncertainty-guided Contour-aware Displacement for semi-supervised medical image segmentation
University of Science and Technology of China（科学技术大学）；Suzhou Institute for Advanced Research（苏州先进研究院）；State Key Laboratory of Precision and Intelligent Chemistry（精密与智能化学国家重点实验室）
Chongqing University（重庆大学）；University of Science and Technology of China（中国科学技术大学）
Since radiologists have different training and clinical experiences, they may provide various segmentation annotations for a lung nodule. Conventional studies choose a single annotation as the learning target by default, but they waste valuable information of consensus or disagreements ingrained in the multiple annotations. This paper proposes an Uncertainty-Guided Segmentation Network (UGS-Net), which learns the rich visual features from the regions that may cause segmentation uncertainty and contributes to a better segmentation result. With an Uncertainty-Aware Module, this network can provi…
We address the problem of semantic nighttime image segmentation and improve the state-of-the-art, by adapting daytime models to nighttime without using nighttime annotations. Moreover, we design a new evaluation framework to address the substantial uncertainty of semantics in nighttime images. Our central contributions are: 1) a curriculum framework to gradually adapt semantic segmentation models from day to night through progressively darker times of day, exploiting cross-time-of-day correspondences between daytime images from a reference map and dark images to guide the label inference in th…
