Publications associées à PlaceNet: A multi-scale semantic-aware model for visual loop closure detection

Publications associées (45)

Stop Wasting your Cache! Bringing Machine Learning into Cache Computing

The rapid evolution of Machine Learning (ML) workloads, particularly Deep Neural Networks (DNNs) and Transformer-based models, has intensified demands on computing architectures, highlighting the limitations of traditional von Neumann systems due to the me ...

ACM2025

Global Group Fairness in Federated Learning via Function Tracking

Daniel Kuhn, Yves Rychener, Yifan Hu

We investigate group fairness regularizers in federated learning, aiming to train a globally fair model in a distributed setting. Ensuring global fairness in distributed training presents unique challenges, as fairness regularizers typically involve probab ...

2025

Speech Data Selection for Efficient ASR Fine-Tuning using Domain Classifier and Pseudo-Label Filtering

Juan Pablo Zuluaga Gomez

In real-world speech data processing, the scarcity of annotated data and the abundance of unlabelled speech data present a significant challenge. To address this, we propose an efficient data selection pipeline for fine-tuning ASR models by generating pseu ...

Institute of Electrical and Electronics Engineers Inc.2025

Behaviorally Relevant Information Content in Interneuron Activity

Mahsa Barzegarkeshteli

The nematode Caenorhabditis elegans offers a uniquely tractable model for studying the relationships between neuronal activity, connectivity, and behavior. Despite its simplicity, key questions remain about how information flows through its nervous system ...

EPFL2025

Engineering of stable and functional metalloproteins using evolutionary computation, deep learning and simulation

Simon Leonard Dürr

Metal ions are indispensable cofactors for many proteins and play crucial roles in numerous biological processes, yet the computational design of metalloproteins and the optimization of metal coordination sites poses significant challenges due to the comp ...

EPFL2025

LF-ViT: Reducing Spatial Redundancy in Vision Transformer for Efficient Image Recognition

Yung-Cheng Chiang

The Vision Transformer (ViT) excels in accuracy when handling high-resolution images, yet it confronts the challenge of significant spatial redundancy, leading to increased computational and memory requirements. To address this, we present the Localization ...

Association for the Advancement of Artificial Intelligence2024

Gaussian universality of perceptrons with random labels

Lenka Zdeborová, Florent Gérard Krzakala, Bruno Loureiro, Ludovic Théo Stephan, Federica Gerace

While classical in many theoretical settings-and in particular in statistical physics-inspired works-the assumption of Gaussian i.i.d. input data is often perceived as a strong limitation in the context of statistics and machine learning. In this study, we ...

Amer Physical Soc2024

The Benefits of Reusing Batches for Gradient Descent in Two-Layer Networks: Breaking the Curse of Information and Leap Exponents

Lenka Zdeborová, Florent Gérard Krzakala, Yatin Dandi, Emanuele Troiani, Luca Pesce, Luca Arnaboldi

We investigate the training dynamics of two-layer neural networks when learning multi-index target functions. We focus on multi-pass gradient descent (GD) that reuses the batches multiple times and show that it significantly changes the conclusion about wh ...

JMLR2024

Turbulence and Heat exchange in the Near-Surface Boundary Layer over Patchy Snow

Michael Haugeneder

The atmospheric layer adjacent to the earth's surface is of crucial importance for weather models due to the exchange of energy between the surface and the atmosphere. This exchange is dependent on the various surface properties and influences the state of ...

EPFL2024

Brief Announcement: A Case for Byzantine Machine Learning

Rachid Guerraoui, Nirupam Gupta, Rafaël Benjamin Pinot, Sadegh Farhadkhani

The success of machine learning (ML) has been intimately linked with the availability of large amounts of data, typically collected from heterogeneous sources and processed on vast networks of computing devices (also called workers). Beyond accuracy, the u ...

ACM2024

Nissl_5, Raw images for Machine learning for histological annotation and quantification of cortical layers

Julie Meystre

This dataset contains images (TIFF image data) of brain juvenile rats Wistar Han (P14) scanned immunostained slides by using an automated slide scanner (Olympus, VS120-L100, GER) equipped with a UPLSAPO 20x/0.75 air objective (Olympus, GER) and a Pike F5 ...

Zenodo2024

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

SPOC: Imitating Shortest Paths in Simulation Enables Effective Navigation and Manipulation in the Real World

Kunal Pratap Singh

Reinforcement learning (RL) with dense rewards and imitation learning (IL) with human-generated trajectories are the most widely used approaches for training modern embodied agents. RL requires extensive reward shaping and auxiliary losses and is often too ...

IEEE2024

Information-Driven Gas Distribution Mapping for Autonomous Mobile Robots

Alcherio Martinoli, Faezeh Rahbar, Chiara Ercolani

The ability to sense airborne pollutants with mobile robots provides a valuable asset for domains such as industrial safety and environmental monitoring. Oftentimes, this involves detecting how certain gases are spread out in the environment, commonly refe ...

MDPI2023

Toward Reliable Human Pose Forecasting With Uncertainty

Alexandre Massoud Alahi, Saeed Saadatnejad, Taylor Ferdinand Mordan

Recently, there has been an arms race of pose forecasting methods aimed at solving the spatio-temporal task of predicting a sequence of future 3D poses of a person given a sequence of past observed ones. However, the lack of unified benchmarks and limited ...

2024

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

Geometric and Learning Methods for Robots to Navigate in Human Crowds with Application to Smart Mobility Devices

David Julian Gonon

The thesis at hand is concerned with robots' navigation in human crowds. Specifically, methods are developed for planning a mobile robot's local motion between pedestrians, and they are evaluated in experiments where a robot interacts with real pedestrians ...

EPFL2023

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

Ethological computational psychiatry: Challenges and opportunities

Mackenzie Mathis

Studying the intricacies of individual subjects' moods and cognitive processing over extended periods of time presents a formidable challenge in medicine. While much of systems neuroscience appropriately focuses on the link between neural circuit functions ...

Current Biology Ltd2024

Challenges and approaches in bridging the biomimicry gap in biohybrid systems of fish and robots

Vaios Papaspyros

As the field of ethology advances, especially over the past two decades, the role of animal-robot interaction tools has increasingly become essential. This importance arises from the need for controlled, repetitive, repeatable, and long-duration experiment ...

EPFL2023