23,487 research outputs found
Substructure and Boundary Modeling for Continuous Action Recognition
This paper introduces a probabilistic graphical model for continuous action
recognition with two novel components: substructure transition model and
discriminative boundary model. The first component encodes the sparse and
global temporal transition prior between action primitives in state-space model
to handle the large spatial-temporal variations within an action class. The
second component enforces the action duration constraint in a discriminative
way to locate the transition boundaries between actions more accurately. The
two components are integrated into a unified graphical structure to enable
effective training and inference. Our comprehensive experimental results on
both public and in-house datasets show that, with the capability to incorporate
additional information that had not been explicitly or efficiently modeled by
previous methods, our proposed algorithm achieved significantly improved
performance for continuous action recognition.Comment: Detailed version of the CVPR 2012 paper. 15 pages, 6 figure
Probabilistic movement modeling for intention inference in human-robot interaction.
Intention inference can be an essential step toward efficient humanrobot interaction. For this purpose, we propose the Intention-Driven Dynamics Model (IDDM) to probabilistically model the generative process of movements that are directed by the intention. The IDDM allows to infer the intention from observed movements using Bayes ’ theorem. The IDDM simultaneously finds a latent state representation of noisy and highdimensional observations, and models the intention-driven dynamics in the latent states. As most robotics applications are subject to real-time constraints, we develop an efficient online algorithm that allows for real-time intention inference. Two human-robot interaction scenarios, i.e., target prediction for robot table tennis and action recognition for interactive humanoid robots, are used to evaluate the performance of our inference algorithm. In both intention inference tasks, the proposed algorithm achieves substantial improvements over support vector machines and Gaussian processes.
Consensus Message Passing for Layered Graphical Models
Generative models provide a powerful framework for probabilistic reasoning.
However, in many domains their use has been hampered by the practical
difficulties of inference. This is particularly the case in computer vision,
where models of the imaging process tend to be large, loopy and layered. For
this reason bottom-up conditional models have traditionally dominated in such
domains. We find that widely-used, general-purpose message passing inference
algorithms such as Expectation Propagation (EP) and Variational Message Passing
(VMP) fail on the simplest of vision models. With these models in mind, we
introduce a modification to message passing that learns to exploit their
layered structure by passing 'consensus' messages that guide inference towards
good solutions. Experiments on a variety of problems show that the proposed
technique leads to significantly more accurate inference results, not only when
compared to standard EP and VMP, but also when compared to competitive
bottom-up conditional models.Comment: Appearing in Proceedings of the 18th International Conference on
Artificial Intelligence and Statistics (AISTATS) 201
Discriminative conditional restricted Boltzmann machine for discrete choice and latent variable modelling
Conventional methods of estimating latent behaviour generally use attitudinal
questions which are subjective and these survey questions may not always be
available. We hypothesize that an alternative approach can be used for latent
variable estimation through an undirected graphical models. For instance,
non-parametric artificial neural networks. In this study, we explore the use of
generative non-parametric modelling methods to estimate latent variables from
prior choice distribution without the conventional use of measurement
indicators. A restricted Boltzmann machine is used to represent latent
behaviour factors by analyzing the relationship information between the
observed choices and explanatory variables. The algorithm is adapted for latent
behaviour analysis in discrete choice scenario and we use a graphical approach
to evaluate and understand the semantic meaning from estimated parameter vector
values. We illustrate our methodology on a financial instrument choice dataset
and perform statistical analysis on parameter sensitivity and stability. Our
findings show that through non-parametric statistical tests, we can extract
useful latent information on the behaviour of latent constructs through machine
learning methods and present strong and significant influence on the choice
process. Furthermore, our modelling framework shows robustness in input
variability through sampling and validation
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