SoftPool: a fast and efficient method that sums exponentially weighted activations. Compared to a range of other pooling methods, SoftPool retains more information in the downsampled activation maps. More refined downsampling leads to better classification accuracy.

The pipeline we propose consists of three parts: 1) recognizing the interaction type; 2) detecting the object that the interaction is targeting; and 3) learning incrementally the models from data recorded by the robot sensors. Our main contributions lie in the target object detection, guided by the recognized interaction, and in the incremental object learning. The novelty of our approach is the focus on natural, heterogeneous, and multimodal HRIs to incrementally learn new object models.

HRI pipeline

SoftPool

Refining activation downsampling with SoftPool

**NAS-FCOS** consists of two sub networks, an [FPN](https://paperswithcode.com/method/fpn) $f$ and a set of prediction heads $h$ which have shared structures. One notable difference with other FPN-based one-stage detectors is that our heads have partially shared weights. Only the last several layers of the predictions heads (marked as yellow) are tied by their weights. The number of layers to share is decided automatically by the search algorithm. Note that both FPN and head are in our actual search space; and have more layers than shown in this figure.

Source	Refining activation downsampling with SoftPool
Year	2000
Data Source	CC BY-SA - https://paperswithcode.com