Multi-Modal 2020

MULTI-MODAL UTILE DISTINCTIONS Multi-Modal Utile Distinctions

We introduce Multi-Modal Utility Trees (MMU), an algorithm for autonomously learning decision treebased state abstractions in Partially Observable Markov Decision Processes with multi-modal observations. MMU builds the trees using the Kolmogorov-Smirnov statistical test. Additionally, MMU incorporates the ability to perform online tree restructuring, enabling it to build and maintain a compact ...

Multi-modal Semantic Place Classification Multi-modal Semantic Place Classification

The ability to represent knowledge about space and its position therein is crucial for a mobile robot. To this end, topological and semantic descriptions are gaining popularity for augmenting purely metric space representations. In this paper we present a multi-modal place classification system that allows a mobile robot to identify places and recognize semantic categories in an indoor environm...

Multi-Modal Route Planning

We examine the computation of optimal paths, which consist of using public transportation, walking and taking a car. A challenge in itself is to determine concise and diverse sets of paths. We consider metropolises like New York, where a fast computation of the paths is difficult. We exemplify that multiple optimality criteria are necessary to obtain diverse sets of paths. This extends the set ...

Multi-modal Mind Design

Multi-Modal Scene Interpretation

The visionary goal of developing an easy to use service robot implies several key tasks such as speech understanding, object recognition and scene understanding. Besides the more sensor-oriented capabilities such systems need extensive meta knowledge, e.g., about mental representations of spatial relations to match the view between man and machine. Only if all parts fit together an unrestricted...