# CogSense: A Cognitively Inspired Framework for Perception Adaptation

arXiv: https://arxiv.org/abs/2107.10456 · HTML: https://mlsanity.com/paper/2107.10456/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 10 of its 35 references that are in the map.
- First posted on arXiv 22 Jul 2021.

## Builds on (most cited first, 10 of 10)

- [On Calibration of Modern Neural Networks](https://mlsanity.com/paper/1706.04599/) (2017)
- [Dropout as a Bayesian Approximation: Representing Model Uncertainty in Deep Learning](https://mlsanity.com/paper/1506.02142/) (2015)
- [What Uncertainties Do We Need in Bayesian Deep Learning for Computer Vision?](https://mlsanity.com/paper/1703.04977/) (2017)
- [Deep Neural Networks are Easily Fooled: High Confidence Predictions for Unrecognizable Images](https://mlsanity.com/paper/1412.1897/) (2014)
- [Brain-Like Object Recognition with High-Performing Shallow Recurrent ANNs](https://mlsanity.com/paper/1909.06161/) (2019)
- [Sampling-free Epistemic Uncertainty Estimation Using Approximated Variance Propagation](https://mlsanity.com/paper/1908.00598/) (2019)
- [Find Your Own Way: Weakly-Supervised Segmentation of Path Proposals for Urban Autonomy](https://mlsanity.com/paper/1610.01238/) (2016)
- [Failing to Learn: Autonomously Identifying Perception Failures for Self-driving Cars](https://mlsanity.com/paper/1707.00051/) (2017)
- [Introspective Perception: Learning to Predict Failures in Vision Systems](https://mlsanity.com/paper/1607.08665/) (2016)
- [Active Perception and Control from Temporal Logic Specifications](https://mlsanity.com/paper/1905.03662/) (2019)

## Abstract (arXiv)

This paper proposes the CogSense system, which is inspired by sense-making cognition and perception in the mammalian brain to perform perception error detection and perception parameter adaptation using probabilistic signal temporal logic. As a specific application, a contrast-based perception adaption method is presented and validated. The proposed method evaluates perception errors using heterogeneous probe functions computed from the detected objects and subsequently solves a contrast optimization problem to correct perception errors. The CogSense probe functions utilize the characteristics of geometry, dynamics, and detected blob image quality of the objects to develop axioms in a probabilistic signal temporal logic framework. By evaluating these axioms, we can formally verify whether the detections are valid or erroneous. Further, using the CogSense axioms, we generate the probabilistic signal temporal logic-based constraints to finally solve the contrast-based optimization problem to reduce false positives and false negatives.