Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15232, USA
Albert Xu, Jhih-Yi Hsieh, Bhaskar Vundurthy, Nithya Kemp, Eliana Cohen, Lu Li, Howie Choset
Metric Learning;Triplet Loss;Hard Negative Mining
Mathematical Justification of Hard Negative Mining via Isometric Approximation Theorem