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Julian Eggert

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7 papers
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7

IROS Conference 2025 Conference Paper

The Constitutional Filter: Bayesian Estimation of Compliant Agents

  • Simon Kohaut
  • Felix Divo
  • Benedict Flade
  • Devendra Singh Dhami
  • Julian Eggert
  • Kristian Kersting

Predicting agents impacted by legal policies, physical limitations, and operational preferences is inherently difficult. In recent years, neuro-symbolic methods have emerged, integrating machine learning and symbolic reasoning models into end-to-end learnable systems. Hereby, a promising avenue for expressing high-level constraints over multi-modal input data in robotics has opened up. This work introduces an approach for Bayesian estimation of agents expected to comply with a human-interpretable neuro-symbolic model we call its Constitution. Hence, we present the Constitutional Filter (CoFi), leading to improved tracking of agents by leveraging expert knowledge, incorporating deep learning architectures, and accounting for environmental uncertainties. CoFi extends the general, recursive Bayesian estimation setting, ensuring compatibility with a vast landscape of established techniques such as Particle Filters. To underpin the advantages of CoFi, we evaluate its performance on real-world marine traffic data. Beyond improved performance, we show how CoFi can learn to trust and adapt to the level of compliance of an agent, recovering baseline performance even if the assumed Constitution clashes with reality.

JMLR Journal 2014 Journal Article

Efficient Occlusive Components Analysis

  • Marc Henniges
  • Richard E. Turner
  • Maneesh Sahani
  • Julian Eggert
  • Jörg Lücke

We study unsupervised learning in a probabilistic generative model for occlusion. The model uses two types of latent variables: one indicates which objects are present in the image, and the other how they are ordered in depth. This depth order then determines how the positions and appearances of the objects present, specified in the model parameters, combine to form the image. We show that the object parameters can be learned from an unlabeled set of images in which objects occlude one another. Exact maximum-likelihood learning is intractable. Tractable approximations can be derived, however, by applying a truncated variational approach to Expectation Maximization (EM). In numerical experiments it is shown that these approximations recover the underlying set of object parameters including data noise and sparsity. Experiments on a novel version of the bars test using colored bars, and experiments on more realistic data, show that the algorithm performs well in extracting the generating components. The studied approach demonstrates that the multiple-causes generative approach can be generalized to extract occluding components, which links research on occlusion to the field of sparse coding approaches. [abs] [ pdf ][ bib ] &copy JMLR 2014. ( edit, beta )

JMLR Journal 2010 Journal Article

Expectation Truncation and the Benefits of Preselection In Training Generative Models

  • Jörg Lücke
  • Julian Eggert

We show how a preselection of hidden variables can be used to efficiently train generative models with binary hidden variables. The approach is based on Expectation Maximization (EM) and uses an efficiently computable approximation to the sufficient statistics of a given model. The computational cost to compute the sufficient statistics is strongly reduced by selecting, for each data point, the relevant hidden causes. The approximation is applicable to a wide range of generative models and provides an interpretation of the benefits of preselection in terms of a variational EM approximation. To empirically show that the method maximizes the data likelihood, it is applied to different types of generative models including: a version of non-negative matrix factorization (NMF), a model for non-linear component extraction (MCA), and a linear generative model similar to sparse coding. The derived algorithms are applied to both artificial and realistic data, and are compared to other models in the literature. We find that the training scheme can reduce computational costs by orders of magnitude and allows for a reliable extraction of hidden causes. [abs] [ pdf ][ bib ] &copy JMLR 2010. ( edit, beta )

NeSy Conference 2007 Conference Paper

A Cortex-Inspired Neural-Symbolic Network for Knowledge Representation

  • Florian Röhrbein
  • Julian Eggert
  • Edgar Körner

Semantic systems for the representation of declarative knowledge are usually unconnected to neurobiological mechanisms in the brain. In this paper we report on efforts to bridge this gap by proposing a neural-symbolic network based on processing principles of the cortical column. We show how a locally controlled activation spread on conceptual nodes leads to bottom-up and top-down processing streams which allow for feature inheritance, context effects and the generation of predictions.

IROS Conference 2006 Conference Paper

Integrated Research and Development Environment for Real-Time Distributed Embodied Intelligent Systems

  • Antonello Ceravola
  • Frank Joublin
  • Mark Dunn
  • Julian Eggert
  • Marcus Stein
  • Christian Goerick

In the field of intelligent systems, research and design approaches vary from predefined architectures to self-organizing systems. Regardless of the architectural approach, such systems may grow in size and complexity to levels where the capacities of people are strongly challenged. Such systems are commonly researched, designed and developed following several methods and with the help of a variety of software tools. In this paper we want to describe our research and development environment. It is composed of a set of tools that support our research and enable us to develop large scale intelligent systems used in our robots and in our test platforms. The main parts of our research and development environment are: the component models BBCM (brain bytes component model) and BBDM (brain bytes data model), the middleware RTBOS (real-time brain operating system), the monitoring system CMBOS (control-monitor brain operating system) and the design environment DTBOS (design tool for brain operating system). We will compare our research and development environment with others available on the market or still in research phase and we will describe some of our experiments

NeurIPS Conference 2001 Conference Paper

Exact differential equation population dynamics for integrate-and-fire neurons

  • Julian Eggert
  • Berthold Bäuml

In our previous work, integral equation formulations for Mesoscopical, mathematical descriptions of dynamics of popula(cid: 173) tions of spiking neurons are getting increasingly important for the understanding of large-scale processes in the brain using simula(cid: 173) tions. population dynamics have been derived for a special type of spik(cid: 173) ing neurons. For Integrate- and- Fire type neurons, these formula(cid: 173) tions were only approximately correct. Here, we derive a math(cid: 173) ematically compact, exact population dynamics formulation for Integrate- and- Fire type neurons. It can be shown quantitatively in simulations that the numerical correspondence with microscop(cid: 173) ically modeled neuronal populations is excellent. 1 Introduction and motivation The goal of the population dynamics approach is to model the time course of the col(cid: 173) lective activity of entire populations of functionally and dynamically similar neurons in a compact way, using a higher descriptionallevel than that of single neurons and spikes. The usual observable at the level of neuronal populations is the population(cid: 173) averaged instantaneous firing rate A(t), with A(t)6. t being the number of neurons in the population that release a spike in an interval [t, t+6. t). Population dynamics are formulated in such a way, that they match quantitatively the time course of a given A(t), either gained experimentally or by microscopical, detailed simulation. At least three main reasons can be formulated which underline the importance of the population dynamics approach for computational neuroscience. First, it enables the simulation of extensive networks involving a massive number of neurons and connections, which is typically the case when dealing with biologically realistic functional models that go beyond the single neuron level. Second, it increases the analytical understanding of large-scale neuronal dynamics, opening the way towards better control and predictive capabilities when dealing with large networks. Third, it enables a systematic embedding of the numerous neuronal models operating at different descriptional scales into a generalized theoretic framework, explaining the relationships, dependencies and derivations of the respective models. Early efforts on population dynamics approaches date back as early as 1972, to the work of Wilson and Cowan [8] and Knight [4], which laid the basis for all current population-averaged graded-response models (see e. g. [6] for modeling work using these models). More recently, population-based approaches for spiking neurons were developed, mainly by Gerstner [3, 2] and Knight [5]. In our own previous work [1], we have developed a theoretical framework which enables to systematize and sim(cid: 173) ulate a wide range of models for population-based dynamics. It was shown that the equations of the framework produce results that agree quantitatively well with detailed simulations using spiking neurons, so that they can be used for realistic simulations involving networks with large numbers of spiking neurons. Neverthe(cid: 173) less, for neuronal populations composed of Integrate-and-Fire (I&F) neurons, this framework was only correct in an approximation. In this paper, we derive the exact population dynamics formulation for I&F neurons. This is achieved by reducing the I&F population dynamics to a point process and by taking advantage of the particular properties of I&F neurons. 2 Background: Integrate-and-Fire dynamics 2. 1 Differential form We start with the standard Integrate- and- Fire (I&F) model in form of the well(cid: 173) known differential equation [7] (1) which describes the dynamics of the membrane potential Vi of a neuron i that is modeled as a single compartment with RC circuit characteristics. The membrane relaxation time is in this case T = RC with R being the membrane resistance and C the membrane capacitance. The resting potential v R est is the stationary potential that is approached in the no-input case. The input arriving from other neurons is described in form of a current ji. In addition to eq. (1), which describes the integrate part of the I&F model, the neuronal dynamics are completed by a nonlinear step. Every time the membrane potential Vi reaches a fixed threshold () from below, Vi is lowered by a fixed amount Ll > 0, and from the new value of the membrane potential integration according to eq. (1) starts again. if Vi(t) = () (from below). (2) At the same time, it is said that the release of a spike occurred (i. e. , the neuron fired), and the time ti = t of this singular event is stored. Here ti indicates the time of the most recent spike. Storing all the last firing times, we gain the sequence of spikes {t{} (spike ordering index j, neuronal index i). 2. 2

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