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Coevolution of active vision and feature selection

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Sense in Motion with Belief Clustering: Efficient Gas Source Localization with Mobile Robots

Alcherio Martinoli, Wanting Jin

Given the patchy nature of gas plumes and the slow response of conventional gas sensors, the use of mobile robots for Gas Source Localization (GSL) tasks presents significant challenges. These aspects increase the difficulties in obtaining gas measurements ...

2024

Incorporating Projective Geometry into Deep Learning

Michal Jan Tyszkiewicz

In this thesis we explore the applications of projective geometry, a mathematical theory of the relation between 3D scenes and their 2D images, in modern learning-based computer vision systems. This is an interesting research question which contradicts the ...

EPFL2024

Aggregating Spatial and Photometric Context for Photometric Stereo

David Honzátko

Photometric stereo, a computer vision technique for estimating the 3D shape of objects through images captured under varying illumination conditions, has been a topic of research for nearly four decades. In its general formulation, photometric stereo is an ...

EPFL2024

Transformers and Large Language Models for Chemistry and Drug Discovery

Philippe Schwaller, Andres Camilo Marulanda Bran

Language modeling has seen impressive progress over the last few years. The invention of the Transformer architecture sparked a revolution in many fields of machine learning, including breakthroughs in chemistry and biology. In this chapter, we explore how ...

Springer Nature2024

An Autonomous Robotic Platform to Manipulate Collective Behavior in Ants

Matthias Rüegg

Eusocial life is characterized by division of labour, collective decision making and self organization, and regarded as the highest form of social organisation in groups. Ants are a model organism for research in collective behavior and the evolution of eu ...

EPFL2023

Advancing Self-Supervised Deep Learning for 3D Scene Understanding

Seyed Mohammad Mahdi Johari

Recent advancements in deep learning have revolutionized 3D computer vision, enabling the extraction of intricate 3D information from 2D images and video sequences. This thesis explores the application of deep learning in three crucial challenges of 3D com ...

EPFL2024

Improving Object Detection under Domain Shifts

Vidit Vidit

Object detection plays a critical role in various computer vision applications, encompassing domains like autonomous vehicles, object tracking, and scene understanding. These applica- tions rely on detectors that generate bounding boxes around known object ...

EPFL2023

Uncovering interactions between Descending Neurons as a functional principle of behavioural control

Jonas Friedrich Braun

Animals, including humans, exhibit a remarkable variety of complex behaviours. How the nervous system controls all these behaviours ranging from simple, stereotyped movements to flexible, adaptive actions is a central questions of neuroscience. One of the ...

EPFL2024

Convolutional neural network classifies visual stimuli from cortical response recorded with wide-field imaging in mice

Silvestro Micera

Objective. The optic nerve is a good location for a visual neuroprosthesis. It can be targeted when a subject cannot receive a retinal prosthesis and it is less invasive than a cortical implant. The effectiveness of an electrical neuroprosthesis depends on ...

IOP Publishing Ltd2023

Modeling Visual Impairments with Artificial Neural Networks: a Review

Martin Schrimpf

We present an approach to bridge the gap between the computational models of human vision and the clinical practice on visual impairments (VI). In a nutshell, we propose to connect advances in neuroscience and machine learning to study the impact of VI on ...

Ieee Computer Soc2023

Exact Obstacle Avoidance for Robots in Complex and Dynamic Environments Using Local Modulation

Lukas Huber

Robots outside of the fenced factories have to deal with continuously changing environment, this requires fast and flexible modes of control. Planning methods or complex learning models can find optimal paths in complex surroundings, but they are computati ...

EPFL2024

Out-of-body illusion induced by visual-vestibular stimulation

Estelle Nakul, Olaf Blanke, Bruno Herbelin, Sophie Jacqueline Andrée Betka, Florian Lance, Hsin-Ping Wu

Out-of-body experiences (OBEs) are characterized by the subjective feeling of being located outside one's physical body and perceiving one's own body from an elevated perspective looking downwards. OBEs have been correlated with abnormal integration of bod ...

Cell Press2023

Structured cerebellar connectivity supports resilient pattern separation

Ilaria Ricchi

The cerebellum is thought to help detect and correct errors between intended and executed commands(1,2) and is critical for social behaviours, cognition and emotion 3 Computations for motor control must be performed quicklyto correct errors in real time an ...

NATURE PORTFOLIO2023

State of the Art in Dense Monocular Non-Rigid 3D Reconstruction

Pascal Fua

3D reconstruction of deformable (or non-rigid) scenes from a set of monocular 2D image observations is a long-standing and actively researched area of computer vision and graphics. It is an ill-posed inverse problem, since-without additional prior assumpti ...

WILEY2023

Bayesian reconstruction of memories stored in neural networks from their connectivity

Lenka Zdeborová, Florent Gérard Krzakala

The advent of comprehensive synaptic wiring diagrams of large neural circuits has created the field of connectomics and given rise to a number of open research questions. One such question is whether it is possible to reconstruct the information stored in ...

2023

Inverse Reinforcement Learning of Pedestrian-Robot Coordination

Aude Billard, David Julian Gonon

We apply inverse reinforcement learning (IRL) with a novel cost feature to the problem of robot navigation in human crowds. Consistent with prior empirical work on pedestrian behavior, the feature anticipates collisions between agents. We efficiently learn ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

Imagine the Unseen World: A Benchmark for Systematic Generalization in Visual World Models

Caglar Gulcehre

Systematic compositionality, or the ability to adapt to novel situations by creating a mental model of the world using reusable pieces of knowledge, remains a significant challenge in machine learning. While there has been considerable progress in the lang ...

2023

The role of the visual field size in artificial vision

Diego Ghezzi

Objective. Artificial vision has been and still is the subject of intense research. The ultimate goal is to help blind people in their daily life. Approaches to artificial vision, including visual prostheses and optogenetics, have strongly focused on resto ...

IOP Publishing Ltd2023

Serial dependence in visual perception: A review

David Pascucci, Gizay Ceylan, Ayberk Ozkirli

How does the visual system represent continuity in the constantly changing visual input? A recent proposal is that vision is serially dependent: Stimuli seen a moment ago influence what we perceive in the present. In line with this, recent frameworks sugge ...

Association for Research in Vision and Ophthalmology (ARVO)2023

Deep Generative Models for Autonomous Driving: from Motion Forecasting to Realistic Image Synthesis

Saeed Saadatnejad

Forecasting is a capability inherent in humans when navigating. Humans routinely plan their paths, considering the potential future movements of those around them. Similarly, to achieve comparable sophistication and safety, autonomous systems must embrace ...

EPFL2023