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Jorik Melsen

Publications and source records attributed to Jorik Melsen.

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Towards detecting Primordial non-Gaussianity in the CMB using Spherical Convolutional Neural Networks

This paper explores a novel application of spherical convolutional neural networks (CNNs) to detect primordial non-Gaussianity in the cosmic microwave background (CMB), a key probe of inflationary dynamics. While effective, traditional estimators encounter computational challenges, especially when considering summary statistics beyond the bispectrum. We propose spherical CNNs as an alternative, directly analysing full-sky CMB maps to overcome limitations in previous machine learning (ML) approaches that relied on data summaries. By training on simulated CMB maps with varying amplitudes of non-Gaussianity, our spherical CNN models show promising alignment with optimal error bounds of traditional methods, albeit at lower-resolution maps. While we explore several different architectures, results from DeepSphere CNNs most closely match the Fisher forecast for Gaussian test sets under noisy and masked conditions. Our study suggests that spherical CNNs could complement existing methods of non-Gaussianity detection in future datasets, provided additional training data and parameter tuning are applied. We discuss the potential for CNN-based techniques to scale with larger data volumes, paving the way for applications to future CMB data sets.

astro-ph.CO

The State of Lifelong Learning in Service Robots: Current Bottlenecks in Object Perception and Manipulation

Service robots are appearing more and more in our daily life. The development of service robots combines multiple fields of research, from object perception to object manipulation. The state-of-the-art continues to improve to make a proper coupling between object perception and manipulation. This coupling is necessary for service robots not only to perform various tasks in a reasonable amount of time but also to continually adapt to new environments and safely interact with non-expert human users. Nowadays, robots are able to recognize various objects, and quickly plan a collision-free trajectory to grasp a target object in predefined settings. Besides, in most of the cases, there is a reliance on large amounts of training data. Therefore, the knowledge of such robots is fixed after the training phase, and any changes in the environment require complicated, time-consuming, and expensive robot re-programming by human experts. Therefore, these approaches are still too rigid for real-life applications in unstructured environments, where a significant portion of the environment is unknown and cannot be directly sensed or controlled. In such environments, no matter how extensive the training data used for batch learning, a robot will always face new objects. Therefore, apart from batch learning, the robot should be able to continually learn about new object categories and grasp affordances from very few training examples on-site. Moreover, apart from robot self-learning, non-expert users could interactively guide the process of experience acquisition by teaching new concepts, or by correcting insufficient or erroneous concepts. In this way, the robot will constantly learn how to help humans in everyday tasks by gaining more and more experiences without the need for re-programming.

cs.RO