Rank Priors for Continuous Non-Linear Dimensionality Reduction

Non-linear dimensionality reduction methods are powerful techniques to deal with high-dimensional datasets. However, they often are susceptible to local minima and perform poorly when initialized far from the global optimum, even when the intrinsic dimensionality is known a priori. In this work we introduce a prior over the dimensionality of the latent space, and simultaneously optimize both the latent space and its intrinsic dimensionality. Ad-hoc initialization schemes are unnecessary with our approach; we initialize the latent space to the observation space and automatically infer the latent dimensionality using an optimization scheme that drops dimensions in a continuous fashion. We report results applying our prior to various tasks involving probabilistic non-linear dimensionality reduction, and show that our method can outperform graph-based dimensionality reduction techniques as well as previously suggested ad-hoc initialization strategies

Articulated human tracking and behavioural analysis in video sequences

Recently, there has been a dramatic growth of interest in the observation and tracking of human subjects through video sequences. Arguably, the principal impetus has come from the perceived demand for technological surveillance, however applications in entertainment, intelligent domiciles and medicine are also increasing. This thesis examines human articulated tracking and the classi cation of human movement, rst separately and then as a sequential process. First, this thesis considers the development and training of a 3D model of human body structure and dynamics. To process video sequences, an observation model is also designed with a multi-component likelihood based on edge, silhouette and colour. This is de ned on the articulated limbs, and visible from a single or multiple cameras, each of which may be calibrated from that sequence. Second, for behavioural analysis, we develop a methodology in which actions and activities are described by semantic labels generated from a Movement Cluster Model (MCM). Third, a Hierarchical Partitioned Particle Filter (HPPF) was developed for human tracking that allows multi-level parameter search consistent with the body structure. This tracker relies on the articulated motion prediction provided by the MCM at pose or limb level. Fourth, tracking and movement analysis are integrated to generate a probabilistic activity description with action labels. The implemented algorithms for tracking and behavioural analysis are tested extensively and independently against ground truth on human tracking and surveillance datasets. Dynamic models are shown to predict and generate synthetic motion, while MCM recovers both periodic and non-periodic activities, de ned either on the whole body or at the limb level. Tracking results are comparable with the state of the art, however the integrated behaviour analysis adds to the value of the approach.Overseas Research Students Awards Scheme (ORSAS

Ranking to Learn and Learning to Rank: On the Role of Ranking in Pattern Recognition Applications

The last decade has seen a revolution in the theory and application of machine learning and pattern recognition. Through these advancements, variable ranking has emerged as an active and growing research area and it is now beginning to be applied to many new problems. The rationale behind this fact is that many pattern recognition problems are by nature ranking problems. The main objective of a ranking algorithm is to sort objects according to some criteria, so that, the most relevant items will appear early in the produced result list. Ranking methods can be analyzed from two different methodological perspectives: ranking to learn and learning to rank. The former aims at studying methods and techniques to sort objects for improving the accuracy of a machine learning model. Enhancing a model performance can be challenging at times. For example, in pattern classification tasks, different data representations can complicate and hide the different explanatory factors of variation behind the data. In particular, hand-crafted features contain many cues that are either redundant or irrelevant, which turn out to reduce the overall accuracy of the classifier. In such a case feature selection is used, that, by producing ranked lists of features, helps to filter out the unwanted information. Moreover, in real-time systems (e.g., visual trackers) ranking approaches are used as optimization procedures which improve the robustness of the system that deals with the high variability of the image streams that change over time. The other way around, learning to rank is necessary in the construction of ranking models for information retrieval, biometric authentication, re-identification, and recommender systems. In this context, the ranking model's purpose is to sort objects according to their degrees of relevance, importance, or preference as defined in the specific application.Comment: European PhD Thesis. arXiv admin note: text overlap with arXiv:1601.06615, arXiv:1505.06821, arXiv:1704.02665 by other author

Ranking to Learn and Learning to Rank: On the Role of Ranking in Pattern Recognition Applications

The last decade has seen a revolution in the theory and application of machine learning and pattern recognition. Through these advancements, variable ranking has emerged as an active and growing research area and it is now beginning to be applied to many new problems. The rationale behind this fact is that many pattern recognition problems are by nature ranking problems. The main objective of a ranking algorithm is to sort objects according to some criteria, so that, the most relevant items will appear early in the produced result list. Ranking methods can be analyzed from two different methodological perspectives: ranking to learn and learning to rank. The former aims at studying methods and techniques to sort objects for improving the accuracy of a machine learning model. Enhancing a model performance can be challenging at times. For example, in pattern classification tasks, different data representations can complicate and hide the different explanatory factors of variation behind the data. In particular, hand-crafted features contain many cues that are either redundant or irrelevant, which turn out to reduce the overall accuracy of the classifier. In such a case feature selection is used, that, by producing ranked lists of features, helps to filter out the unwanted information. Moreover, in real-time systems (e.g., visual trackers) ranking approaches are used as optimization procedures which improve the robustness of the system that deals with the high variability of the image streams that change over time. The other way around, learning to rank is necessary in the construction of ranking models for information retrieval, biometric authentication, re-identification, and recommender systems. In this context, the ranking model's purpose is to sort objects according to their degrees of relevance, importance, or preference as defined in the specific application.Comment: European PhD Thesis. arXiv admin note: text overlap with arXiv:1601.06615, arXiv:1505.06821, arXiv:1704.02665 by other author

Perception and manipulation for robot-assisted dressing

Assistive robots have the potential to provide tremendous support for disabled and elderly people in their daily dressing activities. This thesis presents a series of perception and manipulation algorithms for robot-assisted dressing, including: garment perception and grasping prior to robot-assisted dressing, real-time user posture tracking during robot-assisted dressing for (simulated) impaired users with limited upper-body movement capability, and finally a pipeline for robot-assisted dressing for (simulated) paralyzed users who have lost the ability to move their limbs. First, the thesis explores learning suitable grasping points on a garment prior to robot-assisted dressing. Robots should be endowed with the ability to autonomously recognize the garment state, grasp and hand the garment to the user and subsequently complete the dressing process. This is addressed by introducing a supervised deep neural network to locate grasping points. To reduce the amount of real data required, which is costly to collect, the power of simulation is leveraged to produce large amounts of labeled data. Unexpected user movements should be taken into account during dressing when planning robot dressing trajectories. Tracking such user movements with vision sensors is challenging due to severe visual occlusions created by the robot and clothes. A probabilistic real-time tracking method is proposed using Bayesian networks in latent spaces, which fuses multi-modal sensor information. The latent spaces are created before dressing by modeling the user movements, taking the user's movement limitations and preferences into account. The tracking method is then combined with hierarchical multi-task control to minimize the force between the user and the robot. The proposed method enables the Baxter robot to provide personalized dressing assistance for users with (simulated) upper-body impairments. Finally, a pipeline for dressing (simulated) paralyzed patients using a mobile dual-armed robot is presented. The robot grasps a hospital gown naturally hung on a rail, and moves around the bed to finish the upper-body dressing of a hospital training manikin. To further improve simulations for garment grasping, this thesis proposes to update more realistic physical properties values for the simulated garment. This is achieved by measuring physical similarity in the latent space using contrastive loss, which maps physically similar examples to nearby points.Open Acces

Generating 3D product design models in real-time using hand motion and gesture

This thesis was submitted for the degree of Master of Philosophy and awarded by Brunel University.Three dimensional product design models are widely used in conceptual design and in the early stage of prototyping during the design processes. A product design specification often demands a substantial amount of 3D models to be constructed within a short period of time. Current methods begin with designers sketching product concepts in 2D using pencil and paper, which in turn are then translated into 3D models by a design individual with CAD expertise, using a 3D modelling software package such as Pro Engineer, Solid Works, Auto CAD etc. Several novel methods have been used to incorporate hand motion as a way of interacting with computers. There are three main types of technology available to capture motion data, capable of translating human motion into numeric data which can be read by a computer system. The first being, hand gesture glove-based systems such as “Cyberglove”, these systems are generally used to capture hand gesture and joint angle information. The second is full body motion capture systems, optical and non-optical-based, and finally vision based gesture recognition systems which capture full degree of - freedom (DOF) hand motion estimation. There has yet to be a method using any of the above mentioned input devices to rapidly produce 3D product design models in real time, using hand motion and gestures. In this research, a novel method is presented, using a motion capture system to capture hand gestures and motion in real time, to recreate 3D curves and surfaces, which can be translated into 3D product design models. The main aim of this research is to develop a hand motion and gesture-based rapid 3D product modelling method, allowing designers to interactively sketch out 3D concepts in real time using a virtual workspace. A database of a number of hand signs was built for both architectural hand signs (preliminary study) and Product Design hand signs. A marker set model with a total of eight markers (five on the left hand and three on right hand/marker pen) was designed and used in the capture of hand gestures with the use of an Optical Motion Capture System. A preliminary testing session was successfully completed to determine whether the Motion Capture system would be suitable for a real-time application, by effectively modelling a train station in an offline state using hand motion and gesture. An OpenGL software application was programmed using C++ and the Microsoft Foundation Classes which was used to communicate and pass information of captured motion from the EVaRT system to the user

Interactive real-time musical systems

PhDThis thesis focuses on the development of automatic accompaniment systems. We investigate previous systems and look at a range of approaches that have been attempted for the problem of beat tracking. Most beat trackers are intended for the purposes of music information retrieval where a `black box' approach is tested on a wide variety of music genres. We highlight some of the diffculties facing offline beat trackers and design a new approach for the problem of real-time drum tracking, developing a system, B-Keeper, which makes reasonable assumptions on the nature of the signal and is provided with useful prior knowledge. Having developed the system with offline studio recordings, we look to test the system with human players. Existing offline evaluation methods seem less suitable for a performance system, since we also wish to evaluate the interaction between musician and machine. Although statistical data may reveal quantifiable measurements of the system's predictions and behaviour, we also want to test how well it functions within the context of a live performance. To do so, we devise an evaluation strategy to contrast a machine-controlled accompaniment with one controlled by a human. We also present recent work on a real-time multiple pitch tracking, which is then extended to provide automatic accompaniment for harmonic instruments such as guitar. By aligning salient notes in the output from a dual pitch tracking process, we make changes to the tempo of the accompaniment in order to align it with a live stream. By demonstrating the system's ability to align offline tracks, we can show that under restricted initial conditions, the algorithm works well as an alignment tool

Adaptive and learning-based formation control of swarm robots

Autonomous aerial and wheeled mobile robots play a major role in tasks such as search and rescue, transportation, monitoring, and inspection. However, these operations are faced with a few open challenges including robust autonomy, and adaptive coordination based on the environment and operating conditions, particularly in swarm robots with limited communication and perception capabilities. Furthermore, the computational complexity increases exponentially with the number of robots in the swarm. This thesis examines two different aspects of the formation control problem. On the one hand, we investigate how formation could be performed by swarm robots with limited communication and perception (e.g., Crazyflie nano quadrotor). On the other hand, we explore human-swarm interaction (HSI) and different shared-control mechanisms between human and swarm robots (e.g., BristleBot) for artistic creation. In particular, we combine bio-inspired (i.e., flocking, foraging) techniques with learning-based control strategies (using artificial neural networks) for adaptive control of multi- robots. We first review how learning-based control and networked dynamical systems can be used to assign distributed and decentralized policies to individual robots such that the desired formation emerges from their collective behavior. We proceed by presenting a novel flocking control for UAV swarm using deep reinforcement learning. We formulate the flocking formation problem as a partially observable Markov decision process (POMDP), and consider a leader-follower configuration, where consensus among all UAVs is used to train a shared control policy, and each UAV performs actions based on the local information it collects. In addition, to avoid collision among UAVs and guarantee flocking and navigation, a reward function is added with the global flocking maintenance, mutual reward, and a collision penalty. We adapt deep deterministic policy gradient (DDPG) with centralized training and decentralized execution to obtain the flocking control policy using actor-critic networks and a global state space matrix. In the context of swarm robotics in arts, we investigate how the formation paradigm can serve as an interaction modality for artists to aesthetically utilize swarms. In particular, we explore particle swarm optimization (PSO) and random walk to control the communication between a team of robots with swarming behavior for musical creation

Interdisciplinary Machine Learning Methods for Particle Physics

Following the discovery of a Higgs boson-like particle in the summer of 2012 at the Large Hadron Collider (LHC) at CERN, the high-energy particle physics community has prioritized its thorough study. As part of a comprehensive plan to investigate the many combinations of production and decay of the Standard Model Higgs boson, this thesis describes a continued search for this particle produced in association with a leptonically-decaying vector boson (i.e. a W or Z boson) and decaying into a pair of tau leptons. In Run 1 at the LHC, ATLAS researchers were able to set an upper constraint on the signal strength of this process at μ = σ/σ_SM \u3c 5.6 with 95% confidence using 20.3 fb^-1 of collision data collected at a center-of-mass energy of √s = 8 TeV. My thesis work, which builds upon and extends the Run 1 analysis structure, takes advantage of an increased center-of-mass energy in Run 2 of the LHC of √s = 13 TeV as well as 139 fb^-1 of data, approximately seven times the amount used for the Run 1 analysis. While the higher center-of-mass energy in Run 2 yields a higher expected cross-section for this process, the analysis faces the additional challenges of two newly-considered final states, a higher number of simultaneous interactions per event, and a novel neural network-based background estimation technique. I also describe advanced machine learning techniques I have developed to support tau identification in the ATLAS High-Level Trigger as well as predicting and analyzing the dynamics of many-body systems such as 3D motion capture data of choreography

Pattern Recognition

A wealth of advanced pattern recognition algorithms are emerging from the interdiscipline between technologies of effective visual features and the human-brain cognition process. Effective visual features are made possible through the rapid developments in appropriate sensor equipments, novel filter designs, and viable information processing architectures. While the understanding of human-brain cognition process broadens the way in which the computer can perform pattern recognition tasks. The present book is intended to collect representative researches around the globe focusing on low-level vision, filter design, features and image descriptors, data mining and analysis, and biologically inspired algorithms. The 27 chapters coved in this book disclose recent advances and new ideas in promoting the techniques, technology and applications of pattern recognition