Computer Vision Group Prof. Daniel Cremers. 16. Online Learning

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1 Prof. Daniel Cremers 16.

2 Motivation So far, we have handled offline learning methods, but very often data is observed in an ongoing process Therefore, it would be good to adapt the learned models with newly arriving data without having to consider old data This is called online learning Major benefits: algorithms are adaptive to new observations learning is usually faster 2

3 Clarification of Notions There are (at least) three notions: incremental learning: model is updated with new samples, but old samples might be considered again online learning: after considering a data sample, it can be disregarded (no need to store it) learning at frame rate: learning is fast enough such that it can be performed in one perception cycle 3

4 Example: Pedestrian Detection Offline Approach: 1. Collect and annotate a large data set from different sensor modalities, here: camera and 2D laser Training Set Training Set Codebook Laser Data Image Data 4 [Spinello, Triebel, and Siegwart, IJRR 21]

5 Example: Pedestrian Detection Offline Approach: 1. Collect and annotate a large data set from different sensor modalities, here: camera and 2D laser 2. Train a classifier for each sensor modality Training Set Training Set Boosted CRF Extended ISM Codebook Laser Data Image Data 5 [Spinello, Triebel, and Siegwart, IJRR 21]

6 Example: Pedestrian Detection Offline Approach: 1. Collect and annotate a large data set from different sensor modalities, here: camera and 2D laser 2. Train a classifier for each sensor modality 3. Apply the classifiers and fuse data Training Set Training Set Boosted CRF Extended ISM Codebook Laser Data New Laser Data Stream Image Data New Image Data Stream 6 [Spinello, Triebel, and Siegwart, IJRR 21]

7 Example: Pedestrian Detection Testing Phase: Fused pedestrian detection and tracking Fused detection and tracking of cars and pedestrians But: non-adaptive; large training set required [Spinello, Triebel, and Siegwart, IJRR 21] 7

8 Major Problem of this Approach Offline learning: cannot adapt to new environments cannot learn new classes cannot consider new instances of a given class is often very slow requires a large amount of manually annotated training data Ideas: use online learning for adaptivity use active learning to reduce (human) work load 8

9 Active Learning To reduce the required training data, the learner can select the data it needs to learn from. This is called active learning Major advantages: only those samples where classification is hard are used for re-training humans only need to give ground truth labels for a smaller set of samples In principle, active learning can be used with offline and online learning, but online makes more sense 9

10 Active Learning Training data Optimization function f(x) training data Laptop Y Cup f(x) X 1

11 Active Learning Training data New Data Optimization function f(x) Prediction Uncertainty, Labels training data Laptop Y Cup f(x) f(x) X Laptop 11

12 Active Learning Training data New Data Optimization function f(x) Prediction Uncertainty, Labels training data Laptop Y Cup f(x) f(x) X? 12

13 Active Learning Training data New Data Supervisor Optimization function f(x) Prediction Uncertainty, Labels Label Query training data Laptop Y Cup f(x) X Present 13

14 Active Learning Training data New Data Supervisor Optimization function f(x) Prediction Uncertainty, Labels Label Query New training data Extend training data training data Laptop Y Cup f(x) X Present 14

15 Active Learning Training data New Data Supervisor Optimization function f(x) Prediction Uncertainty, Labels Label Query New training data Extend training data Major Benefits: Adapts to new situations Requires less training samples 15

16 Uncertainty Estimates A key step in active learning is the selection step It requires a good estimate of uncertainties Examples for classification algorithms to compute uncertainties: Support Vector Machine ( Platt scaling ) Gaussian Process Classifier ( predictive variance ) Tree-based classifiers (entropy in leaf nodes) But: It is important how uncertainty correlates to incorrect classifications! 16

17 Uncertainty Estimation: An Example building tree ground hedge car background 1 Ground Truth GP Classification Comparison by evaluation on an unseen class: SVM Classifier GP Classifier 3 2 Uncertainty Frequency SVM Frequency GPC The GP is less overconfident than the SVM! Normalized Entropy for Label Distribution uncertainty Normalized Entropy for Label Distribution uncertainty 17 [Paul, Triebel, Rus, Newman, IROS 212]

18 Trained classes Unseen classes Application: Traffic Sign Classification Lorry Stop Roadworks Keep left 7kph Right ahead IVM uncertainty histograms IVM Non-linear GPC IVM Non-linear 8 6 Non-linear Linear GPC 4 GPC GPC 2 Linear Non-linear GPC Linear SVM GPC Non-linear Non-linear Linear SVM SVM SVM Linear Logit SVM Linear Boost SVM Logit Boost Logit BDT Boost Trained classes Lorry Stop Roadworks 1 Keep left Trained classes 2 Lorry 5 4 Stop Roadworks Keep left Unseen classes Unseen classes kph kph Right 25 ahead Right ahead PD 4 Dr. 5 Rudolph Triebel 1 5 Computer.5 Vision 1 Group 2 5 Right ahead The GP is less overconfident than the SVM! [Grimmett, Paul, Triebel, Posner ICRA 213]

19 Over- and Underconfidence Definition 1: The overconfidence of a classifier is the mean of all confidence values that correspond to incorrect classifications. Definition 2: The underconfidence of a classifier is the mean of all uncertainty values that correspond to correct classifications. 19

20 The 3 Criteria of Learning Algorithms Efficiency Accuracy memory run time precision recall P R: Tracking and fusion PED class Camera Laser Fusion Run time recall Recall Memory Precision precision

21 The 3 Criteria of Learning Algorithms Efficiency Accuracy memory run time precision recall Confidence overconfidence underconfidence 21

22 Active Learning for Semantic Mapping Active Learning is well suited for semantic mapping because: it can deal with large amounts of data. data is not independent. the task is essentially an online learning problem. 22 PD Dr. Rudolph Triebel

23 Active Learning for Semantic Mapping Training data New Batch Data Supervisor function Train Optimization IVM hyperparams f(x) active set Predict and Prediction Sort Uncertainty, Labels query most Label uncertain Query New training data Extend and training forget training data data Concrete Approach: Use IVM (a sparse online GP) for Template 1 5 Image Window classification Sort classified data by uncertainty Request labels for the most uncertain samples = 2 = =. 3 2 n 1 3 n 2 n n N Remove uninformative samples ( forgetting ) 23 [Triebel, Grimmett, Paul, Posner ISRR 213]

24 The Informative Vector Machine Main differences to standard GP classifier: it uses a subset ( active set ) of training points the (inverse) posterior covariance matrix is computed incrementally Decision of inclusion in the active set based on infor- mation-theoretic criterion Slight caveat: Training of hyper-parameters needs to be done iteratively From: 24

25 Semantic Mapping: Results false positives true positions high number of detections low Passive&detector& Ac3ve&detector& Epoch&& Epoch&2& Epoch&9& GP overtakes and stays better than SVM. Active learning better than passive learning. performance f 1 measure Random selection is not better. 25 SVM active SVM passive SVM random IVM active IVM passive IVM random Epoch no. epoch [Triebel, Grimmett, Paul, Posner ISRR 213]

26 Which Classifier Should We Choose? high Boosting Efficiency SVM GPC low low Accuracy high 26 PD Dr. habil. Rudolph Triebel

27 Which Classifier Should We Choose? high Boosting Efficiency low Conf. Est. bad good GPC SVM low Accuracy high SVMs are accurate, but (more) overconfident GPCs are less overconfident, but very inefficient Boosting is very efficient, but also overconfident 27 PD Dr. habil. Rudolph Triebel

28 Can We Reduce Over-(Under-)Confidence? Start with a very efficient multi-class boosting classifier Modify it so that it reduces overconfidence Use also the confidence to weight training samples Result ( Confidence Boosting ): wrong, certain classified samples receive higher weight overconfidence reduced in every learning round overall classifier is less overconfident better for Active Learning Note: This is the alternative approach to making a non-overconfident classifier efficient! 28 PD Dr. habil. Rudolph Triebel

29 Online Gradient Boosting Online: outer loop over data points, inner loop over weak classifiers For each point, all weak classifiers are updated Algorithm 1: Online Multi-class Gradient Boost [Sa ari et al. 21] Data: training data (X, y) withc classes Input: number of weak learners M, loss function `, agreement function a Output: weak learners f 1,...,f M 1 Initialize(f 1,...,f M ) 2 for n =1,...,N do 3 w n 1 4 g n 5 for m =1,...,M do 6 f m UpdateWeakLearner(f m, x n,y n,w n ) 7 p nm f m (x n ) 8 nm a(p nm,y n ) 9 g n g n + nm 1 w n r`(g n ) 11 end 12 end Agreement between prediction and ground truth Sample receives low weight if agreement high Note: Agreement does not use the confidence! 29

30 Confidence Boosting Main idea: Use also the confidence to compute the agreement Intuitively: if classification is correct use the positive confidence if classification is wrong use negative confidence Result: wrong, certain classified samples receive higher weight overconfidence reduced in every learning round overall classifier is less overconfident better for Active Learning 3

31 Example: AL for 3D Object Recognition Qualitative Results: True Label = binder True Label = lime kleenex lemon lightbulb lime marker apple ball banana ballpepper binder Epoch 1 True Label = bowl Gradient Boost >calculator Confidence Boost >binder bowl calculator camera cap cellphone cerealbox coffeemug.25.2 Epoch 1 Gradient Boost >lemon Confidence Boost >lime kleenex lemon lightbulb lime marker apple ball banana ballpepper binder bowl calculator camera 31 cap cellphone cerealbox coffeemug Epoch 1 kleenex lemon lightbulb lime marker apple ball banana ballpepper binder bowl Gradient Boost >coffeemug Confidence Boost >bowl calculator camera cap cellphone cerealbox coffeemug

32 Example: AL for 3D Object Recognition Avg. Classification Error Saffari et al. act. GradientBoost act. Confidence Boosting Lai et al. no. queries Pendigits GB Pendigits CB USPS GB USPS CB Letter GB Letter CB USPS Letter Pendigits DNA Begbroke RGBD epochs Confidence Boosting classifies better than GradientBoost. generates fewer label queries. is less overconfident. is orders of magnitude faster than GPC. 32 GB CB correct false

33 Pool-based and Stream-based AL Problem: Most often, data occurs in streams (online) and not in pools (offline) But: Online Random Forests require a balanced class dist. depend on the order of the data Idea: use Mondrian Forests [1] Main differences: data stream MFs also store the range of the data in each dimension MFs are independent on the class labels [1] B. Lakshminarayanan, D. M. Roy, and Y. W. Teh, Mondrian Forests: Efficient Online Random Forests, in Advances in Neural Information Processing Systems (NIPS), 214, pp PD Dr. habil. Rudolph Triebel

34 Mondrian Forests start with two points insert a split 34 PD Dr. habil. Rudolph Triebel

35 Mondrian Forests start with two points insert a split add a third point 35 PD Dr. habil. Rudolph Triebel

36 Mondrian Forests start with two points insert a split add a third point sample a time from an exponential distr. insert a node above the given node insert a random split 36 PD Dr. habil. Rudolph Triebel

37 Mondrian Forests start with two points insert a split add a third point sample a time from an exponential distr. insert a node above the given node insert a random split add a new node inside the outer box 37 PD Dr. habil. Rudolph Triebel

38 Mondrian Forests start with two points insert a split add a third point sample a time from an exponential distr. insert a node above the given node insert a random split add a new node inside the outer box sample again and insert new node at the end this requires extending a split 38 PD Dr. habil. Rudolph Triebel

39 Why the Name Mondrian Forests? 39 PD Dr. habil. Rudolph Triebel

40 Why the Name Mondrian Forests? Piet Mondrian: Composition with Red, Yellow, Blue, and Black 1926 Gemeentemuseum, Den Haag 4 PD Dr. habil. Rudolph Triebel

41 Application to Real Data KiTTI benchmark data set: 3D point clouds cars, pedestrians, bikes, trucks, etc. segmentation given ( tracklets ) Goal: online classification use active learning Major problems: un-balanced classes order of appearance 41 PD Dr. habil. Rudolph Triebel

42 The Data Set The real data The data uniformly resampled 42 PD Dr. habil. Rudolph Triebel

43 Results (no Active Learning) The real data The data uniformly resampled A. Narr, R. Triebel, D. Cremers Stream-based Active Learning for Efficient and Adaptive Classification of 3D Objects in: ICRA PD Dr. habil. Rudolph Triebel

44 Results Using Active Learning Mondrian Forests require only 5% of the data to reach 9% accuracy Standard Random Forests can not reach that A. Narr, R. Triebel, D. Cremers Stream-based Active Learning for Efficient and Adaptive Classification of 3D Objects in: ICRA PD Dr. habil. Rudolph Triebel

45 Summary Online learning has important advantages over offline learning: efficiency and adaptivity In active learning the algorithm selects the data to learn from (human in the loop) This requires good confidence estimates The GP classifiers tends to be less overconfident, but inefficient A faster alternative method is Confidence Boosting, it is very efficient and not much overconfident For stream-based Active Learning Mondrian Forests are better suited 45

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