Active Vision in the Era of Convolutional Neural Networks
Bibliographic record
Abstract
In this work, we examine the literature of active object recognition in the past and present. We note that methods in the past used a notion of recognition ambiguity in order to find a next best view policy that could disambiguate the object with the fewest camera moves. Present methods on the other hand use deep reinforcement learning to learn camera control policies from the data. We show on a public dataset, that reinforcement learning methods are not superior to a policy of adequately sampling the object view-sphere. Instead of focusing on finding the next best view, we examine a recent method of quantifying recognition uncertainty in deep learning as a potential application to active object recognition. We find that predictions with this technique are well calibrated with respect to the performance of a network on a test-set, showing that it could be useful in an active vision scenario.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.004 | 0.010 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.000 | 0.004 |
| Scholarly communication | 0.003 | 0.006 |
| Open science | 0.002 | 0.002 |
| Research integrity | 0.002 | 0.006 |
| Insufficient payload (model declined to judge) | 0.002 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".