arXiv subjects

Simon Dierl

Publications and source records attributed to Simon Dierl.

3 recordsLinked to original sources

arXiv2025

Self-Supervised Moving Object Segmentation of Sparse and Noisy Radar Point Clouds

Moving object segmentation is a crucial task for safe and reliable autonomous mobile systems like self-driving cars, improving the reliability and robustness of subsequent tasks like SLAM or path planning. While the segmentation of camera or LiDAR data is widely researched and achieves great results, it often introduces an increased latency by requiring the accumulation of temporal sequences to gain the necessary temporal context. Radar sensors overcome this problem with their ability to provide a direct measurement of a point's Doppler velocity, which can be exploited for single-scan moving object segmentation. However, radar point clouds are often sparse and noisy, making data annotation for use in supervised learning very tedious, time-consuming, and cost-intensive. To overcome this problem, we address the task of self-supervised moving object segmentation of sparse and noisy radar point clouds. We follow a two-step approach of contrastive self-supervised representation learning with subsequent supervised fine-tuning using limited amounts of annotated data. We propose a novel clustering-based contrastive loss function with cluster refinement based on dynamic points removal to pretrain the network to produce motion-aware representations of the radar data. Our method improves label efficiency after fine-tuning, effectively boosting state-of-the-art performance by self-supervised pretraining.

cs.CV↗

arXiv2024

Scalable Tree-based Register Automata Learning

Existing active automata learning (AAL) algorithms have demonstrated their potential in capturing the behavior of complex systems (e.g., in analyzing network protocol implementations). The most widely used AAL algorithms generate finite state machine models, such as Mealy machines. For many analysis tasks, however, it is crucial to generate richer classes of models that also show how relations between data parameters affect system behavior. Such models have shown potential to uncover critical bugs, but their learning algorithms do not scale beyond small and well curated experiments. In this paper, we present $SL^\lambda$, an effective and scalable register automata (RA) learning algorithm that significantly reduces the number of tests required for inferring models. It achieves this by combining a tree-based cost-efficient data structure with mechanisms for computing short and restricted tests. We have implemented $SL^\lambda$ as a new algorithm in RALib. We evaluate its performance by comparing it against $SL^*$, the current state-of-the-art RA learning algorithm, in a series of experiments, and show superior performance and substantial asymptotic improvements in bigger systems.

cs.FL↗

arXiv2023

Unsupervised Automata Learning via Discrete Optimization

Automata learning is a successful tool for many application domains such as robotics and automatic verification. Typically, automata learning techniques operate in a supervised learning setting (active or passive) where they learn a finite state machine in contexts where additional information, such as labeled system executions, is available. However, other settings, such as learning from unlabeled data - an important aspect in machine learning - remain unexplored. To overcome this limitation, we propose a framework for learning a deterministic finite automaton (DFA) from a given multi-set of unlabeled words. We show that this problem is computationally hard and develop three learning algorithms based on constraint optimization. Moreover, we introduce novel regularization schemes for our optimization problems that improve the overall interpretability of our DFAs. Using a prototype implementation, we demonstrate practical feasibility in the context of unsupervised anomaly detection.

cs.LG↗