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Lance M. Kaplan

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3 papers

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IROS Conference 2024 Conference Paper

FlexLoc: Conditional Neural Networks for Zero-Shot Sensor Perspective Invariance in Object Localization with Distributed Multimodal Sensors

Jason Wu
Ziqi Wang 0001
Xiaomin Ouyang
Ho Lyun Jeong
Colin Samplawski
Lance M. Kaplan
Benjamin M. Marlin
Mani Srivastava 0001

Localization is a critical technology for various applications ranging from navigation and surveillance to assisted living. Localization systems typically fuse information from sensors viewing the scene from different perspectives to estimate the target location while also employing multiple modalities for enhanced robustness and accuracy. Recently, such systems have employed end-to-end deep neural models trained on large datasets due to their superior performance and ability to handle data from diverse sensor modalities. However, such neural models are often trained on data collected from a particular set of sensor poses (i. e. , locations and orientations). During real-world deployments, slight deviations from these sensor poses can result in extreme inaccuracies. To address this challenge, we introduce FlexLoc, which employs conditional neural networks to inject node perspective information to adapt the localization pipeline. Specifically, a small subset of model weights are derived from node poses at run time, enabling accurate generalization to unseen perspectives with minimal additional overhead. Our evaluations on a multimodal, multi-view indoor tracking dataset showcase that FlexLoc improves the localization accuracy by almost 50% in the zero-shot case (no calibration data available) compared to the baselines. The source code of FlexLoc is available in https://github.com/nesl/FlexLoc.

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ICLR Conference 2024 Conference Paper

Hyper Evidential Deep Learning to Quantify Composite Classification Uncertainty

Changbin Li
Kangshuo Li
Yuzhe Ou
Lance M. Kaplan
Audun Jøsang
Jin-Hee Cho
Dong Hyun Jeong
Feng Chen 0001

Deep neural networks (DNNs) have been shown to perform well on exclusive, multi-class classification tasks. However, when different classes have similar visual features, it becomes challenging for human annotators to differentiate them. When an image is ambiguous, such as a blurry one where an annotator can't distinguish between a husky and a wolf, it may be labeled with both classes: {husky, wolf}. This scenario necessitates the use of composite set labels. In this paper, we propose a novel framework called Hyper-Evidential Neural Network (HENN) that explicitly models predictive uncertainty caused by composite set labels in training data in the context of the belief theory called Subjective Logic (SL). By placing a Grouped Dirichlet distribution on the class probabilities, we treat predictions of a neural network as parameters of hyper-subjective opinions and learn the network that collects both single and composite evidence leading to these hyper-opinions by a deterministic DNN from data. We introduce a new uncertainty type called vagueness originally designed for hyper-opinions in SL to quantify composite classification uncertainty for DNNs. Our experiments prove that HENN outperforms its state-of-the-art counterparts based on four image datasets. The code and datasets are available at: https://shorturl.at/dhoqx.

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IJCAI Conference 2022 Conference Paper

Evidential Reasoning and Learning: a Survey

Federico Cerutti
Lance M. Kaplan
Murat Şensoy

When collaborating with an artificial intelligence (AI) system, we need to assess when to trust its recommendations. Suppose we mistakenly trust it in regions where it is likely to err. In that case, catastrophic failures may occur, hence the need for Bayesian approaches for reasoning and learning to determine the confidence (or epistemic uncertainty) in the probabilities of the queried outcome. Pure Bayesian methods, however, suffer from high computational costs. To overcome them, we revert to efficient and effective approximations. In this paper, we focus on techniques that take the name of evidential reasoning and learning from the process of Bayesian update of given hypotheses based on additional evidence. This paper provides the reader with a gentle introduction to the area of investigation, the up-to-date research outcomes, and the open questions still left unanswered.

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