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Giampiero Salvi

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3 papers

2 author rows

AAAI Conference 2019 Conference Paper

Active Mini-Batch Sampling Using Repulsive Point Processes

Cheng Zhang
Cengiz Öztireli
Stephan Mandt
Giampiero Salvi

The convergence speed of stochastic gradient descent (SGD) can be improved by actively selecting mini-batches. We explore sampling schemes where similar data points are less likely to be selected in the same mini-batch. In particular, we prove that such repulsive sampling schemes lower the variance of the gradient estimator. This generalizes recent work on using Determinantal Point Processes (DPPs) for mini-batch diversification (Zhang et al. , 2017) to the broader class of repulsive point processes. We first show that the phenomenon of variance reduction by diversified sampling generalizes in particular to non-stationary point processes. We then show that other point processes may be computationally much more efficient than DPPs. In particular, we propose and investigate Poisson Disk sampling—frequently encountered in the computer graphics community—for this task. We show empirically that our approach improves over standard SGD both in terms of convergence speed as well as final model performance.

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IROS Conference 2014 Conference Paper

Audio-visual classification and detection of human manipulation actions

Alessandro Pieropan
Giampiero Salvi
Karl Pauwels
Hedvig Kjellström

Humans are able to merge information from multiple perceptional modalities and formulate a coherent representation of the world. Our thesis is that robots need to do the same in order to operate robustly and autonomously in an unstructured environment. It has also been shown in several fields that multiple sources of information can complement each other, overcoming the limitations of a single perceptual modality. Hence, in this paper we introduce a data set of actions that includes both visual data (RGB-D video and 6DOF object pose estimation) and acoustic data. We also propose a method for recognizing and segmenting actions from continuous audio-visual data. The proposed method is employed for extensive evaluation of the descriptive power of the two modalities, and we discuss how they can be used jointly to infer a coherent interpretation of the recorded action.

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ICRA Conference 2009 Conference Paper

Affordance based word-to-meaning association

Verica Krunic
Giampiero Salvi
Alexandre Bernardino
Luis Montesano
José Santos-Victor

This paper presents a method to associate meanings to words in manipulation tasks. We base our model on an affordance network, i. e. , a mapping between robot actions, robot perceptions and the perceived effects of these actions upon objects. We extend the affordance model to incorporate words. Using verbal descriptions of a task, the model uses temporal co-occurrence to create links between speech utterances and the involved objects, actions and effects. We show that the robot is able form useful word-to-meaning associations, even without considering grammatical structure in the learning process and in the presence of recognition errors. These word-to-meaning associations are embedded in the robot's own understanding of its actions. Thus they can be directly used to instruct the robot to perform tasks and also allow to incorporate context in the speech recognition task.

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