Stream-based Active Learning by Exploiting Temporal Properties in Perception with Temporal Predicted Loss

TL;DR

This paper introduces a novel stream-based active learning method called Temporal Predicted Loss (TPL) that leverages temporal properties in perception streams, improving data efficiency and speed for autonomous perception systems.

Contribution

The paper proposes TPL, a new active learning approach exploiting temporal information in perception streams, and introduces new datasets for evaluation in stream-based active learning.

Findings

TPL outperforms state-of-the-art pool- and stream-based methods.

TPL requires 2.5 percentage points less data.

TPL is significantly faster than pool-based approaches.

Abstract

Active learning (AL) reduces the amount of labeled data needed to train a machine learning model by intelligently choosing which instances to label. Classic pool-based AL requires all data to be present in a datacenter, which can be challenging with the increasing amounts of data needed in deep learning. However, AL on mobile devices and robots, like autonomous cars, can filter the data from perception sensor streams before reaching the datacenter. We exploited the temporal properties for such image streams in our work and proposed the novel temporal predicted loss (TPL) method. To evaluate the stream-based setting properly, we introduced the GTA V streets and the A2D2 streets dataset and made both publicly available. Our experiments showed that our approach significantly improves the diversity of the selection while being an uncertainty-based method. As pool-based approaches are more common in perception applications, we derived a concept for comparing pool-based and stream-based AL, where TPL out-performed state-of-the-art pool- or stream-based approaches for different models. TPL demonstrated a gain of 2.5 precept points (pp) less required data while being significantly faster than pool-based methods.