A life-long learning vector quantization approach for interactive learning of multiple categories.

We present a new method capable of learning multiple categories in an interactive and life-long learning fashion to approach the "stability-plasticity dilemma". The problem of incremental learning of multiple categories is still largely unsolved. This is especially true for the domain of cognitive robotics, requiring real-time and interactive learning. To achieve the life-long learning ability for a cognitive system, we propose a new learning vector quantization approach combined with a category-specific feature selection method to allow several metrical "views" on the representation space of each individual vector quantization node. These category-specific features are incrementally collected during the learning process, so that a balance between the correction of wrong representations and the stability of acquired knowledge is achieved. We demonstrate our approach for a difficult visual categorization task, where the learning is applied for several complex-shaped objects rotated in depth.

A model for learning topographically organized parts-based representations of objects in visual cortex: topographic nonnegative matrix factorization.

Object representation in the inferior temporal cortex (IT), an area of visual cortex critical for object recognition in the primate, exhibits two prominent properties: (1) objects are represented by the combined activity of columnar clusters of neurons, with each cluster representing component features or parts of objects, and (2) closely related features are continuously represented along the tangential direction of individual columnar clusters. Here we propose a learning model that reflects these properties of parts-based representation and topographic organization in a unified framework. This model is based on a nonnegative matrix factorization (NMF) basis decomposition method. NMF alone provides a parts-based representation where nonnegative inputs are approximated by additive combinations of nonnegative basis functions. Our proposed model of topographic NMF (TNMF) incorporates neighborhood connections between NMF basis functions arranged on a topographic map and attains the topographic property without losing the parts-based property of the NMF. The TNMF represents an input by multiple activity peaks to describe diverse information, whereas conventional topographic models, such as the self-organizing map (SOM), represent an input by a single activity peak in a topographic map. We demonstrate the parts-based and topographic properties of the TNMF by constructing a hierarchical model for object recognition where the TNMF is at the top tier for learning high-level object features. The TNMF showed better generalization performance over NMF for a data set of continuous view change of an image and more robustly preserving the continuity of the view change in its object representation. Comparison of the outputs of our model with actual neural responses recorded in the IT indicates that the TNMF reconstructs the neuronal responses better than the SOM, giving plausibility to the parts-based learning of the model.

A biologically motivated visual memory architecture for online learning of objects.

We present a biologically motivated architecture for object recognition that is based on a hierarchical feature-detection model in combination with a memory architecture that implements short-term and long-term memory for objects. A particular focus is the functional realization of online and incremental learning for the task of appearance-based object recognition of many complex-shaped objects. We propose some modifications of learning vector quantization algorithms that are especially adapted to the task of incremental learning and capable of dealing with the stability-plasticity dilemma of such learning algorithms. Our technical implementation of the neural architecture is capable of online learning of 50 objects within less than three hours.

Online learning of objects in a biologically motivated visual architecture.

We present a biologically motivated architecture for object recognition that is capable of online learning of several objects based on interaction with a human teacher. The system combines biological principles such as appearance-based representation in topographical feature detection hierarchies and context-driven transfer between different levels of object memory. Training can be performed in an unconstrained environment by presenting objects in front of a stereo camera system and labeling them by speech input. The learning is fully online and thus avoids an artificial separation of the interaction into training and test phases. We demonstrate the performance on a challenging ensemble of 50 objects.

Combining reconstruction and discrimination with class-specific sparse coding.

Sparse coding is an important approach for the unsupervised learning of sensory features. In this contribution, we present two new methods that extend the traditional sparse coding approach with supervised components. Our goal is to increase the suitability of the learned features for classification tasks while keeping most of their general representation capability. We analyze the effect of the new methods using visualization on artificial data and discuss the results on two object test sets with regard to the properties of the found feature representation.

Learning lateral interactions for feature binding and sensory segmentation from prototypic basis interactions.

We present a hybrid learning method bridging the fields of recurrent neural networks, unsupervised Hebbian learning, vector quantization, and supervised learning to implement a sophisticated image and feature segmentation architecture. This architecture is based on the competitive layer model (CLM), a dynamic feature binding model, which is applicable on a wide range of perceptual grouping and segmentation problems. A predefined target segmentation can be achieved as attractor states of this linear threshold recurrent network, if the lateral weights are chosen by Hebbian learning. The weight matrix is given by the correlation matrix of special pattern vectors with a structure dependent on the target labeling. Generalization is achieved by applying vector quantization on pair-wise feature relations, like proximity and similarity, defined by external knowledge. We show the successful application of the method to a number of artifical test examples and a medical image segmentation problem of fluorescence microscope cell images.

Evolutionary optimization of a hierarchical object recognition model.

A major problem in designing artificial neural networks is the proper choice of the network architecture. Especially for vision networks classifying three-dimensional (3-D) objects this problem is very challenging, as these networks are necessarily large and therefore the search space for defining the needed networks is of a very high dimensionality. This strongly increases the chances of obtaining only suboptimal structures from standard optimization algorithms. We tackle this problem in two ways. First, we use biologically inspired hierarchical vision models to narrow the space of possible architectures and to reduce the dimensionality of the search space. Second, we employ evolutionary optimization techniques to determine optimal features and nonlinearities of the visual hierarchy. Here, we especially focus on higher order complex features in higher hierarchical stages. We compare two different approaches to perform an evolutionary optimization of these features. In the first setting, we directly code the features into the genome. In the second setting, in analogy to an ontogenetical development process, we suggest the new method of an indirect coding of the features via an unsupervised learning process, which is embedded into the evolutionary optimization. In both cases the processing nonlinearities are encoded directly into the genome and are thus subject to optimization. The fitness of the individuals for the evolutionary selection process is computed by measuring the network classification performance on a benchmark image database. Here, we use a nearest-neighbor classification approach, based on the hierarchical feature output. We compare the found solutions with respect to their ability to generalize. We differentiate between a first- and a second-order generalization. The first-order generalization denotes how well the vision system, after evolutionary optimization of the features and nonlinearities using a database A, can classify previously unseen test views of objects from this database A. As second-order generalization, we denote the ability of the vision system to perform classification on a database B using the features and nonlinearities optimized on database A. We show that the direct feature coding approach leads to networks with a better first-order generalization, whereas the second-order generalization is on an equally high level for both direct and indirect coding. We also compare the second-order generalization results with other state-of-the-art recognition systems and show that both approaches lead to optimized recognition systems, which are highly competitive with recent recognition algorithms.

Learning optimized features for hierarchical models of invariant object recognition.

There is an ongoing debate over the capabilities of hierarchical neural feedforward architectures for performing real-world invariant object recognition. Although a variety of hierarchical models exists, appropriate supervised and unsupervised learning methods are still an issue of intense research. We propose a feedforward model for recognition that shares components like weight sharing, pooling stages, and competitive nonlinearities with earlier approaches but focuses on new methods for learning optimal feature-detecting cells in intermediate stages of the hierarchical network. We show that principles of sparse coding, which were previously mostly applied to the initial feature detection stages, can also be employed to obtain optimized intermediate complex features. We suggest a new approach to optimize the learning of sparse features under the constraints of a weight-sharing or convolutional architecture that uses pooling operations to achieve gradual invariance in the feature hierarchy. The approach explicitly enforces symmetry constraints like translation invariance on the feature set. This leads to a dimension reduction in the search space of optimal features and allows determining more efficiently the basis representatives, which achieve a sparse decomposition of the input. We analyze the quality of the learned feature representation by investigating the recognition performance of the resulting hierarchical network on object and face databases. We show that a hierarchy with features learned on a single object data set can also be applied to face recognition without parameter changes and is competitive with other recent machine learning recognition approaches. To investigate the effect of the interplay between sparse coding and processing nonlinearities, we also consider alternative feedforward pooling nonlinearities such as presynaptic maximum selection and sum-of-squares integration. The comparison shows that a combination of strong competitive nonlinearities with sparse coding offers the best recognition performance in the difficult scenario of segmentation-free recognition in cluttered surround. We demonstrate that for both learning and recognition, a precise segmentation of the objects is not necessary.