Timezone: »

 
Poster
Localization with Sampling-Argmax
Jiefeng Li · Tong Chen · Ruiqi Shi · Yujing Lou · Yong-Lu Li · Cewu Lu

Wed Dec 08 04:30 PM -- 06:00 PM (PST) @

Soft-argmax operation is commonly adopted in detection-based methods to localize the target position in a differentiable manner. However, training the neural network with soft-argmax makes the shape of the probability map unconstrained. Consequently, the model lacks pixel-wise supervision through the map during training, leading to performance degradation. In this work, we propose sampling-argmax, a differentiable training method that imposes implicit constraints to the shape of the probability map by minimizing the expectation of the localization error. To approximate the expectation, we introduce a continuous formulation of the output distribution and develop a differentiable sampling process. The expectation can be approximated by calculating the average error of all samples drawn from the output distribution. We show that sampling-argmax can seamlessly replace the conventional soft-argmax operation on various localization tasks. Comprehensive experiments demonstrate the effectiveness and flexibility of the proposed method. Code is available at https://github.com/Jeff-sjtu/sampling-argmax

Author Information

Jiefeng Li (Shanghai Jiao Tong University)
Tong Chen (Shanghai Jiao Tong University)
Ruiqi Shi (Shanghai Jiao Tong University)
Yujing Lou (Shanghai Jiao Tong University)
Yong-Lu Li (Shanghai Jiao Tong University)
Cewu Lu (Shanghai Jiao Tong University)

More from the Same Authors

  • 2023 : Open X-Embodiment: Robotic Learning Datasets and RT-X Models »
    Quan Vuong · Ajinkya Jain · Alex Bewley · Alexander Irpan · Alexander Khazatsky · Anant Rai · Anikait Singh · Antonin Raffin · Ayzaan Wahid · Beomjoon Kim · Bernhard Schölkopf · brian ichter · Cewu Lu · Charles Xu · Chelsea Finn · Chenfeng Xu · Cheng Chi · Chenguang Huang · Chuer Pan · Chuyuan Fu · Coline Devin · Danny Driess · Deepak Pathak · Dhruv Shah · Dieter Büchler · Dmitry Kalashnikov · Dorsa Sadigh · Edward Johns · Federico Ceola · Fei Xia · Freek Stulp · Gaoyue Zhou · Gaurav Sukhatme · Gautam Salhotra · Ge Yan · Giulio Schiavi · Hao Su · Hao-Shu Fang · Haochen Shi · Heni Ben Amor · Henrik Christensen · Hiroki Furuta · Homer Walke · Hongjie Fang · Igor Mordatch · Ilija Radosavovic · Isabel Leal · Jacky Liang · Jaehyung Kim · Jan Schneider · Jasmine Hsu · Jeannette Bohg · Jiajun Wu · Jialin Wu · Jianlan Luo · Jiayuan Gu · Jie Tan · Jitendra Malik · Jonathan Tompson · Jonathan Yang · Joseph Lim · João Silvério · Junhyek Han · Kanishka Rao · Karl Pertsch · Karol Hausman · Keegan Go · Keerthana Gopalakrishnan · Ken Goldberg · Kevin Zhang · Keyvan Majd · Krishan Rana · Krishnan Srinivasan · Lawrence Yunliang Chen · Lerrel Pinto · Liam Tan · Lionel Ott · Lisa Lee · Masayoshi TOMIZUKA · Michael Ahn · Mingyu Ding · Mohan Kumar Srirama · Mohit Sharma · Moo J Kim · Nicklas Hansen · Nicolas Heess · Nikhil Joshi · Niko Suenderhauf · Norman Di Palo · Nur Muhammad Shafiullah · Oier Mees · Oliver Kroemer · Pannag Sanketi · Paul Wohlhart · Peng Xu · Pierre Sermanet · Priya Sundaresan · Rafael Rafailov · Ran Tian · Ria Doshi · Roberto Martín-Martín · Russell Mendonca · Rutav Shah · Ryan Hoque · Ryan Julian · Samuel Bustamante · Sean Kirmani · Sergey Levine · Sherry Q Moore · Shikhar Bahl · Shivin Dass · Shuran Song · Sichun Xu · Siddhant Haldar · Simeon Adebola · Simon Guist · Soroush Nasiriany · Stefan Schaal · Stefan Welker · Stephen Tian · Sudeep Dasari · Suneel Belkhale · Takayuki Osa · Tatsuya Harada · Tatsuya Matsushima · Ted Xiao · Tianhe Yu · Tianli Ding · Todor Davchev · Tony Zhao · Trevor Darrell · Vidhi Jain · Vincent Vanhoucke · Wei Zhan · Wenxuan Zhou · Wolfram Burgard · Xi Chen · Xiaolong Wang · Xinghao Zhu · Xuanlin Li · Yao Lu · Yevgen Chebotar · Yifan Zhou · Yifeng Zhu · Yonatan Bisk · Yoonyoung Cho · Youngwoon Lee · Yuchen Cui · Yueh-Hua Wu · Yujin Tang · Yuke Zhu · Yunzhu Li · Yusuke Iwasawa · Yutaka Matsuo · Zhuo Xu · Zichen Cui · Alexander Herzog · Abhishek Padalkar · Acorn Pooley · Anthony Brohan · Ben Burgess-Limerick · Christine Chan · Jeffrey Bingham · Jihoon Oh · Kendra Byrne · Kenneth Oslund · Kento Kawaharazuka · Maximilian Du · Mingtong Zhang · Naoaki Kanazawa · Travis Armstrong · Ying Xu · Yixuan Wang · Jan Peters
  • 2023 : RH20T: A Comprehensive Robotic Dataset for Learning Diverse Skills in One-Shot »
    Hao-Shu Fang · Hongjie Fang · Zhenyu Tang · Jirong Liu · Chenxi Wang · Junbo Wang · Haoyi Zhu · Cewu Lu
  • 2023 : RH20T: A Comprehensive Robotic Dataset for Learning Diverse Skills in One-Shot »
    Hao-Shu Fang · Hongjie Fang · Zhenyu Tang · Jirong Liu · Chenxi Wang · Junbo Wang · Haoyi Zhu · Cewu Lu
  • 2023 : Low-Cost Exoskeletons for Learning Whole-Arm Manipulation in the Wild »
    Hongjie Fang · Hao-Shu Fang · Yiming Wang · Jieji Ren · Jingjing Chen · Ruo Zhang · Weiming Wang · Cewu Lu
  • 2023 Poster: Symbol-LLM: Leverage Language Models for Symbolic System in Visual Human Activity Reasoning »
    Xiaoqian Wu · Yong-Lu Li · Jianhua Sun · Cewu Lu
  • 2022 Poster: DART: Articulated Hand Model with Diverse Accessories and Rich Textures »
    Daiheng Gao · Yuliang Xiu · Kailin Li · Lixin Yang · Feng Wang · Peng Zhang · Bang Zhang · Cewu Lu · Ping Tan
  • 2020 Poster: HOI Analysis: Integrating and Decomposing Human-Object Interaction »
    Yong-Lu Li · Xinpeng Liu · Xiaoqian Wu · Yizhuo Li · Cewu Lu