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Paul Newman

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

3 papers
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3

NeurIPS Conference 2025 Conference Paper

Fantastic Features and Where to Find Them: A Probing Method to combine Features from Multiple Foundation Models

  • Benjamin Ramtoula
  • Pierre-Yves Lajoie
  • Paul Newman
  • Daniele De Martini

Foundation models (FMs) trained with different objectives and data learn diverse representations, making some more effective than others for specific downstream tasks. Existing adaptation strategies, such as parameter-efficient fine-tuning, focus on individual models and do not exploit the complementary strengths across models. Probing methods offer a promising alternative by extracting information from frozen models, but current techniques do not scale well with large feature sets and often rely on dataset-specific hyperparameter tuning. We propose Combined backBones (ComBo), a simple and scalable probing-based adapter that effectively integrates features from multiple models and layers. ComBo compresses activations from layers of one or more FMs into compact token-wise representations and processes them with a lightweight transformer for task-specific prediction. Crucially, ComBo does not require dataset-specific tuning or backpropagation through the backbone models. However, not all models are equally relevant for all tasks. To address this, we introduce a mechanism that leverages ComBo’s joint multi-backbone probing to efficiently evaluate each backbone’s task-relevance, enabling both practical model comparison and improved performance through selective adaptation. On the 19 tasks of the VTAB-1k benchmark, ComBo outperforms previous probing methods, matches or surpasses more expensive alternatives, such as distillation-based model merging, and enables efficient probing of tuned models. Our results demonstrate that ComBo offers a practical and general-purpose framework for combining diverse representations from multiple FMs.

AAAI Conference 2012 Conference Paper

Parsing Outdoor Scenes from Streamed 3D Laser Data Using Online Clustering and Incremental Belief Updates

  • Rudolph Triebel
  • Rohan Paul
  • Daniela Rus
  • Paul Newman

In this paper, we address the problem of continually parsing a stream of 3D point cloud data acquired from a laser sensor mounted on a road vehicle. We leverage an online star clustering algorithm coupled with an incremental belief update in an evolving undirected graphical model. The fusion of these techniques allows the robot to parse streamed data and to continually improve its understanding of the world. The core competency produced is an ability to infer object classes from similarities based on appearance and shape features, and to concurrently combine that with a spatial smoothing algorithm incorporating geometric consistency. This formulation of feature-space star clustering modulating the potentials of a spatial graphical model is entirely novel. In our method, the two sources of information: feature similarity and geometrical consistency are fed continually into the system, improving the belief over the class distributions as new data arrives. The algorithm obviates the need for hand-labeled training data and makes no apriori assumptions on the number or characteristics of object categories. Rather, they are learnt incrementally over time from streamed input data. In experiments performed on real 3D laser data from an outdoor scene, we show that our approach is capable of obtaining an everimproving unsupervised scene categorization.

IJCAI Conference 2011 Conference Paper

Adaptive Data Compression for Robot Perception

  • Mike Smith
  • Ingmar Posner
  • Paul Newman

This paper concerns the creation of an efficient, continuous, non-parametric representation of surfaces implicit in 3D laser data as typically recorded by mobile robots. Our approach explicitly leverages the probabilistic nature of Gaussian Process regression to provide for a principled, adaptive subsampling which automatically prunes redundant data. The algorithm places no restriction on the complexity of the underlying surfaces and enables predictions at arbitrary locations and densities. We present results using real and synthetic data and show that our approach attains decimation factors in excess of two orders of magnitude without significant degradation in fidelity of the workspace reconstructions.

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