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A Bayesian Approach for Task-Specific Next-Best-View Selection with Uncertain Geometry

arXiv.org Machine Learning

We develop a framework for task-specific active next-best-view selection in 3D reconstruction from point clouds, by casting the problem in the language of Bayesian decision theory. Our framework works by (a) placing a prior distribution over the space of implicit surfaces, (b) using recently-developed stochastic surface reconstruction methods to calculate the resulting posterior distribution, then (c) using the posterior distribution to carefully reason about which view to scan next. This enables us to perform camera selection in a manner that is directly optimized for the intended use of the reconstructed data - meaning, we reduce uncertainty only in those regions that make a difference in the task at hand, as opposed to prior approaches that reduce it uniformly across space. We evaluate our method across three distinct downstream tasks: semantic classification, segmentation, and PDE-guided physics simulation. Experimental results demonstrate that our framework achieves superior task performance with fewer views compared to commonly used baselines and prior general uncertainty-reduction techniques.



CASP: Support-Aware Offline Policy Selection for Two-Stage Recommender Systems

arXiv.org Machine Learning

Two-stage recommender systems first choose a candidate generator and then rank items within the generated set. Because the generator decides which items are available to the ranker, changing the generator changes both the policy value and the data support used to estimate that value. This creates an offline selection problem that standard single-stage objectives do not capture: a policy may look good under a retrieval score or a raw off-policy value estimate, but still be unreliable if it depends on weakly supported generator-item pairs. We propose CASP (Coupled Action-Set Pessimism), a support-aware offline selector for finite libraries of two-stage recommender policies. CASP combines doubly robust value estimation with a support-burden penalty. We show that stagewise rules that ignore downstream continuation value can be arbitrarily suboptimal, and we derive population, finite-class, and reconstructed-propensity guarantees for conservative selection. In simulations and a reconstructed MovieLens 1M application, CASP selects lower-burden policies when estimated value and support credibility are in tension.



1d8dc55c1f6cf124af840ce1d92d1896-Paper-Conference.pdf

Neural Information Processing Systems

As inthe classical problem, weights are fixed by an adversary and elements appear in random order. In contrast to previous variants of predictions, our algorithm only has access toamuch weakerpiece ofinformation: anadditive gapc.



Zero-shot Knowledge Transfer via Adversarial Belief Matching

Neural Information Processing Systems

However,duetogrowing dataset sizes and stricter privacy regulations, it is increasingly common not to have access to the data that was used to train the teacher. We propose a novel method which trains a student to match the predictions of its teacher without using anydata ormetadata. Weachievethisbytraining anadversarial generator to search for images on which the student poorly matches the teacher, and then using them to train the student.


Video Prediction via Selective Sampling

Neural Information Processing Systems

This module is trained in an adversarial learning manner [5]. The Selectionmodule selects high possibility candidates from proposals and combines to produce the final prediction, according to the criteria of better position matching.


Prior-Free Dynamic Auctions with Low Regret Buyers

Neural Information Processing Systems

We study the problem of how to repeatedly sell to a buyer running a no-regret,mean-based algorithm. Previous work [Braverman et al., 2018] shows that it ispossible to design effective mechanisms in such a setting that extract almost allof the economic surplus, but these mechanisms require the buyer's values each