Fitting Jump Models

We describe a new framework for fitting jump models to a sequence of data. The key idea is to alternate between minimizing a loss function to fit multiple model parameters, and minimizing a discrete loss function to determine which set of model parameters is active at each data point. The framework is quite general and encompasses popular classes of models, such as hidden Markov models and piecewise affine models. The shape of the chosen loss functions to minimize determine the shape of the resulting jump model.Comment: Accepted for publication in Automatic

A computer model of auditory efferent suppression: Implications for the recognition of speech in noise

The neural mechanisms underlying the ability of human listeners to recognize speech in the presence of background noise are still imperfectly understood. However, there is mounting evidence that the medial olivocochlear system plays an important role, via efferents that exert a suppressive effect on the response of the basilar membrane. The current paper presents a computer modeling study that investigates the possible role of this activity on speech intelligibility in noise. A model of auditory efferent processing [ Ferry, R. T., and Meddis, R. (2007). J. Acoust. Soc. Am. 122, 3519?3526 ] is used to provide acoustic features for a statistical automatic speech recognition system, thus allowing the effects of efferent activity on speech intelligibility to be quantified. Performance of the ?basic? model (without efferent activity) on a connected digit recognition task is good when the speech is uncorrupted by noise but falls when noise is present. However, recognition performance is much improved when efferent activity is applied. Furthermore, optimal performance is obtained when the amount of efferent activity is proportional to the noise level. The results obtained are consistent with the suggestion that efferent suppression causes a ?release from adaptation? in the auditory-nerve response to noisy speech, which enhances its intelligibility

Understanding of Object Manipulation Actions Using Human Multi-Modal Sensory Data

Object manipulation actions represent an important share of the Activities of Daily Living (ADLs). In this work, we study how to enable service robots to use human multi-modal data to understand object manipulation actions, and how they can recognize such actions when humans perform them during human-robot collaboration tasks. The multi-modal data in this study consists of videos, hand motion data, applied forces as represented by the pressure patterns on the hand, and measurements of the bending of the fingers, collected as human subjects performed manipulation actions. We investigate two different approaches. In the first one, we show that multi-modal signal (motion, finger bending and hand pressure) generated by the action can be decomposed into a set of primitives that can be seen as its building blocks. These primitives are used to define 24 multi-modal primitive features. The primitive features can in turn be used as an abstract representation of the multi-modal signal and employed for action recognition. In the latter approach, the visual features are extracted from the data using a pre-trained image classification deep convolutional neural network. The visual features are subsequently used to train the classifier. We also investigate whether adding data from other modalities produces a statistically significant improvement in the classifier performance. We show that both approaches produce a comparable performance. This implies that image-based methods can successfully recognize human actions during human-robot collaboration. On the other hand, in order to provide training data for the robot so it can learn how to perform object manipulation actions, multi-modal data provides a better alternative