Anthony G. Cohn

Anthony G. Cohn
University of Leeds · School of Computing

About

338
Publications
54,000
Reads
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11,763
Citations
Citations since 2017
85 Research Items
3182 Citations
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20172018201920202021202220230100200300400500600
20172018201920202021202220230100200300400500600
20172018201920202021202220230100200300400500600

Publications

Publications (338)
Preprint
We propose a hierarchical framework for collaborative intelligent systems. This framework organizes research challenges based on the nature of the collaborative activity and the information that must be shared, with each level building on capabilities provided by lower levels. We review research paradigms at each level, with a description of classi...
Article
Seismic velocity inversion plays a vital role in various applied seismology processes. A series of deep learning methods have been developed which rely purely on manually provided labels for supervision; however, their performances depend heavily on the utilization of large training datasets with corresponding velocity models. Since no physical law...
Article
We propose a hierarchical framework for collaborative intelligent systems. This framework organizes research challenges based on the nature of the collaborative activity and the information that must be shared, with each level building on capabilities provided by lower levels. We review research paradigms at each level, with a description of classi...
Article
Full-text available
In this paper we analyse the issue of reference using spatial language and examine how the polysemy exhibited by spatial prepositions can be incorporated into semantic models for situated dialogue. After providing a brief overview of polysemy in spatial language and a review of related work, we describe an experimental study we used to collect data...
Conference Paper
Full-text available
Planning is a computationally expensive process, which can limit the reactivity of autonomous agents. Planning problems are usually solved in isolation, independently of similar, previously solved problems. The depth of search that a planner requires to find a solution, known as the planning horizon, is a critical factor when integrating planners i...
Article
As data sources become ever more numerous with increased feature dimensionality, feature selection for multiview data has become an important technique in machine learning. Semi-supervised multiview feature selection (SMFS) focuses on the problem of how to obtain a discriminative feature subset from heterogeneous feature spaces in the case of abund...
Preprint
We address the following action-effect prediction task. Given an image depicting an initial state of the world and an action expressed in text, predict an image depicting the state of the world following the action. The prediction should have the same scene context as the input image. We explore the use of the recently proposed GLIDE model for perf...
Article
Graph neural network(GNN) has obtained outstanding achievements in relational data. However, these data have uncertain properties, for example, spurious edges may be included. Recently, Variational graph autoencoder(VGAE) has been proposed to solve this problem. However, the distributional assumptions in the variational family restrict the variatio...
Conference Paper
Full-text available
The current and future capabilities of Artificial Intelligence (AI) are typically assessed with an ever increasing number of benchmarks, competitions, tests and evaluation standards, which are meant to work as AI evaluation instruments (EI). These EIs are not only increasing in number, but also in complexity and diversity, making it hard to underst...
Article
In order to be trusted by humans, Artificial Intelligence agents should be able to describe rationales behind their decisions. One such application is human action recognition in critical or sensitive scenarios, where trustworthy and explainable action recognizers are expected. For example, reliable pedestrian action recognition is essential for se...
Article
Accurate water inflow assessment in the under-construction rock tunnel sites is critical for the next optimized construction and rehabilitation strategy. In this paper, a deep convolutional neural networks (DCNN)-based method, named H-ResNet-34, is implemented to classify water inflow category from rock tunnel faces in under-construction highway tu...
Article
This work offers a defect segmentation approach for the nondestructive testing of tunnel lining internal defects using Ground Penetrating Radar (GPR) data. Given GPR synthetic data, it maps the internal defect structure, using a CNN named Segnet coupled with the Lovász softmax loss function, which enhances the accuracy, automation, and efficiency o...
Article
Full-text available
This paper presents a novel integrated method for interactive characterization of fracture spacing in rock tunnel sections. The main procedure includes four steps: (1) Automatic extraction of fracture traces, (2) digitization of trace maps, (3) disconnection and grouping of traces, and (4) interactive measurement of fracture set spacing, total spac...
Article
Tunnel lining internal defect detection is essential for the safe operation of tunnels. This paper presents an automatic scheme based on rotational region deformable convolutional neural network (R²DCNN) and Ground Penetrating Radar (GPR) images for the accurate detection of defects and rebars with arbitrary orientations. The R²DCNN comprises inter...
Article
Full-text available
Whitby is the server-side of an Intelligent Tutoring System application for learning System-Theoretic Process Analysis (STPA), a methodology used to ensure the safety of anything that can be represented with a systems model. The underlying logic driving the reasoning behind Whitby is Situation Calculus, which is a many-sorted logic with situation,...
Article
In this work, the problem of bootstrapping knowledge in language and vision for autonomous robots is addressed through novel techniques in grammar induction and word grounding to the perceptual world. In particular, we demonstrate a system, called OLAV, which is able, for the first time, to (1) learn to form discrete concepts from sensory data; (2)...
Article
Full-text available
A common approach to interpreting spiking activity is based on identifying the firing fields—regions in physical or configuration spaces that elicit responses of neurons. Common examples include hippocampal place cells that fire at preferred locations in the navigated environment, head direction cells that fire at preferred orientations of the anim...
Conference Paper
Scribble-supervised semantic segmentation has gained much attention recently for its promising performance without high-quality annotations. Due to the lack of supervision, confident and consistent predictions are usually hard to obtain. Typically, people handle these problems to either adopt an auxiliary task with the well-labeled dataset or incor...
Chapter
Chinese traditional music has been proved to be effective in emotion regulation for thousands of years. Five different groups of Chinese traditional music which have been proved can regulate different emotions (Angry, Depressed, Feverish, Desperate, Sorrowful) in the literature. 54 audios features are extracted by using the Librosa library for each...
Article
Full-text available
This paper presents a hybrid ensemble classifier combined synthetic minority oversampling technique (SMOTE), random search (RS) hyper-parameters optimization algorithm and gradient boosting tree (GBT) to achieve efficient and accurate rock trace identification. A thirteen-dimensional database consist- ing of basic, vector, and discontinuity feature...
Preprint
Full-text available
Whitby is the server-side of an Intelligent Tutoring System application for learning System-Theoretic Process Analysis (STPA), a methodology used to ensure the safety of anything that can be represented with a systems model. The underlying logic driving the reasoning behind Whitby is Situation Calculus, which is a many-sorted logic with situation,...
Preprint
Full-text available
A common approach to interpreting spiking activity is based on identifying the firing fields---regions in physical or configuration spaces that elicit responses of neurons. Common examples include hippocampal place cells that fire at preferred locations in the navigated environment, head direction cells that fire at preferred orientations of the an...
Preprint
Full-text available
Scribble-supervised semantic segmentation has gained much attention recently for its promising performance without high-quality annotations. Due to the lack of supervision, confident and consistent predictions are usually hard to obtain. Typically, people handle these problems to either adopt an auxiliary task with the well-labeled dataset or incor...
Article
Full-text available
A DNN architecture referred to as GPRInvNet was proposed to tackle the challenges of mapping the ground-penetrating radar (GPR) B-Scan data to complex permittivity maps of subsurface structures. The GPRInvNet consisted of a trace-to-trace encoder and a decoder. It was specially designed to take into account the characteristics of GPR inversion when...
Article
The ability to compute a quality index for manipulation tasks, in different configurations, has been widely used in robotics. However, it is poorly explored in human manipulation and physical human-robot collaboration (pHRC). Existing works that evaluate efficiency of human manipulation often focus only on heurisitic-based, biomechanics or ergonomi...
Article
Full-text available
A variety of civil engineering applications require the identification of cracks in roads and buildings. In such cases, it is frequently helpful for the precise location of cracks to be identified as labelled parts within an image to facilitate precision repair for example. CrackIT is known as a crack detection algorithm that allows a user to choos...
Conference Paper
Full-text available
Various accounts of cognition and semantic representations have highlighted that, for some concepts, different factors may influence category and typicality judgements. In particular, some features may be more salient in categorisation tasks while other features are more salient when assessing typicality. In this paper we explore the extent to whic...
Article
Full-text available
Detection of road pavement cracks is important and needed at an early stage to repair the road and extend its lifetime for maintaining city roads. Cracks are hard to detect from images taken with visible spectrum cameras due to noise and ambiguity with background textures besides the lack of distinct features in cracks. Hyperspectral images are se...
Conference Paper
Full-text available
Acquiring knowledge about object interactions and affordances can facilitate scene understanding and human-robot collaboration tasks. As humans tend to use objects in many different ways depending on the scene and the objects' availability, learning object affordances in everyday-life scenarios is a challenging task particularly in the presence of...
Conference Paper
Full-text available
In this paper, we present a learning-based approach to determining acceptance of arguments under several abstract argumentation semantics. More specifically, we propose an argumentation graph neural network (AGNN) that learns a message-passing algorithm to predict the likelihood of an argument being accepted. The experimental results demonstrate th...
Chapter
System safety analysis is a creative process that can often be undertaken by people who are not experts in the system under analysis whilst also learning the analysis methodology. With the increase of system complexity, the high demand for analyses conducted at a scale and the potentially catastrophic consequences of inadequate analysis, there is a...
Conference Paper
System safety analysis is a creative process that can often be undertaken by people who are not experts in the system under analysis whilst also learning the analysis methodology. With the increase of system complexity, the high demand for analyses conducted at a scale and the potentially catastrophic consequences of inadequate analysis, there is a...
Poster
Full-text available
Detecting material changes from a remote distance is very useful for infrastructure condition monitoring. In this work, we show the potential for using hyperspectral imaging to identify the pavement condition and classify roads based on a spectral footprint. Cracks in the road show interior material of different chemical structure from the surface...
Article
We are interested in the problem where a number of robots, in parallel, are trying to solve reaching through clutter problems in a simulated warehouse setting. In such a setting, we investigate the performance increase that can be achieved by using a human-in-the-loop providing guidance to robot planners. These manipulation problems are challenging...
Chapter
Achieving “commonsense reasoning” capabilities has been one of the goals of AI since its inception. However, as Marcus and Davis have recently argued, “Common sense is not just the hardest problem for AI; in the long run, it’s also the most important problem”. Moreover, it is generally accepted that space (and time) underlie much of what we regard...
Conference Paper
Full-text available
In previous work exploring how to automatically generate typicality measures for spatial prepositions in grounded settings, we considered a semantic model based on Prototype Theory and introduced a method for learning its parameters from data. However, though there is much to suggest that spatial prepositions exhibit polysemy, each term was treated...
Preprint
Full-text available
Human sensorimotor decision-making has a tendency to get ‘stuck in a rut’, being biased towards selecting a previously implemented action structure (‘hysteresis’). Existing explanations cannot provide a principled account of when hysteresis will occur. We propose that hysteresis is an emergent property of a dynamical system learning from the conseq...
Data
The objective of this project is learning high-level manipulation planning skills from humans and transfer these skills to robot planners. We used virtual reality to generate data from human participants whilst they reached for objects on a cluttered table top. From this, we devised a qualitative representation of the task space to abstract human d...
Article
Full-text available
Precise mapping of buried utilities is critical to managing massive urban underground infrastructure and preventing utility incidents. Most current research only focuses on generating such maps based on complete information of underground utilities. However, in real-world practice, it is rare that a full picture of buried utilities can be obtained...
Article
Full-text available
Tunnel maintenance requires complex decision making, which involves pathology diagnosis and risk assessment, to ensure full safety while optimising maintenance and repair costs. A Decision Support System (DSS) can play a key role in this process by supporting the decision makers in identifying pathologies based on disorders present in various tunne...
Article
Full-text available
Urban infrastructure assets (e.g. roads, water pipes) perform critical functions to the health and well-being of society. Although it has been widely recognised that different infrastructure assets are highly interconnected, infrastructure management in practice such as planning, installation and maintenance are often undertaken by different stakeh...
Preprint
This research proposes a Ground Penetrating Radar (GPR) data processing method for non-destructive detection of tunnel lining internal defects, called defect segmentation. To perform this critical step of automatic tunnel lining detection, the method uses a CNN called Segnet combined with the Lov\'asz softmax loss function to map the internal defec...
Preprint
Full-text available
Humans, in comparison to robots, are remarkably adept at reaching for objects in cluttered environments. The best existing robot planners are based on random sampling of configuration space -- which becomes excessively high-dimensional with large number of objects. Consequently, most planners often fail to efficiently find object manipulation plans...
Conference Paper
Humans, in comparison to robots, are remarkably adept at reaching for objects in cluttered environments. The best existing robot planners are based on random sampling in configuration space- which becomes excessively highdimensional with a large number of objects. Consequently, most of these planners suffer from limited object manipulation. We addr...
Conference Paper
Full-text available
In cognitive accounts of concept learning and representation three modelling approaches provide methods for assessing typicality: rule-based, prototype and exemplar models. The prototype and exemplar models both rely on calculating a weighted semantic distance to some central instance or instances. However, it is not often discussed how the central...
Chapter
Full-text available
We propose a logic of directions for points (LD)over 2D Euclidean space, which formalises primary direction relations east (E), west (W), and indeterminate east/west (Iew), north (N), south (S) and indeterminate north/south (Ins). We provide a sound and complete axiomatisation of it, and prove that its satisfiability problem is NP-complete.
Preprint
Full-text available
A DNN architecture called GPRInvNet is proposed to tackle the challenge of mapping Ground Penetrating Radar (GPR) B-Scan data to complex permittivity maps of subsurface structure. GPRInvNet consists of a trace-to-trace encoder and a decoder. It is specially designed to take account of the characteristics of GPR inversion when faced with complex GPR...
Conference Paper
Full-text available
We address the problem of affordance classification for class-agnostic objects considering an open set of actions, by unsupervised learning of object interactions,inducing object affordance classes. A novel qualitative spatial representation incorporating depth information is used to construct Activity Graphs which encode object interactions. These...
Conference Paper
Full-text available
Increased population growth and continued urbanisation will necessitate novel, bold, and revolutionary approaches to infrastructure inspection, maintenance, and repair. This will likely be done by swarms of autonomous robotic systems. The University of Leeds is quickly establishing itself as a leader in the field by taking part in two ambitious inf...
Conference Paper
Full-text available
Spatial prepositions in the English language can be used to denote a vast array of configurations which greatly diverge from any typical meaning and there is much discussion regarding how their semantics are shaped and understood. Though there is general agreement that non-geometric aspects play a significant role in spatial preposition usage, ther...
Article
Tunnel Boring Machines (TBMs) are large multi-million pound machines used to excavate underground tunnels. In order to make best use of the high-speed performance of a TBM and guarantee the safety of excavation, it is important to know the local geology, structures and ground properties ahead of the TBM cutter head, especially in complex geological...
Conference Paper
Full-text available
Autonomous inspection of roads is gaining interest to improve the efficiency of road repair and maintenance. In this paper we will be showing the potential for using Hyper Spectral Cameras, HSC, to identify road defects. The key idea of this paper is that cracks in the road show the interior material of road pavement which have different chemical c...
Article
Full-text available
The success of intelligent mobile robots operating and collaborating with humans in daily living environments depends on their ability to generalise and learn human movements, and obtain a shared understanding of an observed scene. In this paper we aim to understand human activities being performed in real-world environments from long-term observat...
Chapter
Urban infrastructure assets perform critical functions to the health and well-being of the society. In this paper, we present a prototype decision support system for sustainable subsurface inter-asset management. To the best of the authors’ knowledge, this work is the first on assessing the underground space by considering the inter-asset dependenc...
Article
Full-text available
Bridge bearings are a critical component of a bridge and require regular visual inspection to ensure the safe operation of the bridge throughout its life. However, the bearings are often located in spaces that are difficult or hazardous to reach, which can impact how often the bearings are inspected. In addition, these spaces are small and offer si...
Conference Paper
Full-text available
Vision and touch are two of the important sensing modalities for humans and they offer complementary information for sensing the environment. Robots could also benefit from such multi-modal sensing ability. In this paper, addressing for the first time (to the best of our knowledge) texture recognition from tactile images and vision, we propose a ne...
Conference Paper
We present an interactive decision support system for assisting city infrastructure inter-asset management. It combines real-time site specific data retrieval, a knowledge base co-created with domain experts and an inference engine capable of predicting potential consequences and risks resulting from the available data and knowledge. The system can...
Conference Paper
Full-text available
Urban infrastructure assets perform critical functions to the health and well-being of the society. In this paper, we present a prototype decision support system for sustainable subsurface inter-asset management. To the best of the authors’ knowledge, this work is the first on assessing the underground space by considering the inter-asset dependenc...
Article
The explosive growth of text data requires effective methods to represent and classify these texts. Many text learning methods have been proposed, like statistics-based methods, semantic similarity methods, and deep learning methods. The statistics-based methods focus on comparing the substructure of text, which ignores the semantic similarity betw...
Conference Paper
Streetworks are the activities conducted in streets such as building or repairing roads, installing or replacing buried utilities, or street furniture. Sustainable streetworks requires an integrated approach taking account of the complex inter-asset relationships between human activities, different city infrastructure assets and the environment. To...
Article
Full-text available
The complicated geological conditions and unexpected geological hazards beyond the face of a tunnel are challenging problems for tunnel construction, which can cause great loss of life and property. While the geological surveys conducted before tunnel construction can provide rough information of construction site, they are not sufficiently accurat...
Article
Full-text available
Vision and touch are two of the important sensing modalities for humans and they offer complementary information for sensing the environment. Robots are also envisioned to be of such multi-modal sensing ability. In this paper, we propose a new fusion method named Deep Maximum Covariance Analysis (DMCA) to learn a joint latent space for sharing feat...
Conference Paper
Full-text available
Vision and touch are two important sensing modalities for humans and they offer complementary information for sensing the environment. Our aim is to endow robots with a similar multi-modal sensing ability to achieve better perception. To this end, we propose a new fusion method named deep maximum covariance analysis (DMCA) to learn a joint latent s...
Article
Full-text available
Mapping the Underworld (MTU), a major initiative in the UK, is focused on addressing social, 1 environmental and economic consequences raised from the inability to locate buried underground utilities (such as pipes and cables) by developing multi-sensor mobile device. The aim of MTU device is to locate different types of buried assets in real time...
Conference Paper
Full-text available
Animals navigate complex and variable environments, but often use only limited sensory information. Here we present a simulated robot system using a C. elegans inspired sensory model and navigation strategy and demonstrate its ability to successfully identify specific, discretely located cues. We show a range of conditions under which this approach...
Conference Paper
Critical infrastructure assets are defined in terms of their purpose (e.g. roads, water, and energy) yet the ground, which supports these assets, can also be considered a critical asset leading to the conclusion that any assessment of critical infrastructure must consider the ground in that assessment. While the interdependency of critical infrastr...