Bayesian Gait Optimization for Bipedal Locomotion

One of the key challenges in robotic bipedal locomotion is finding gait parameters that optimize a desired performance criterion, such as speed, robustness or energy efficiency. Typically, gait optimization requires extensive robot experiments and specific expert knowledge. We propose to apply data-driven machine learning to automate and speed up the process of gait optimization. In particular, we use Bayesian optimization to efficiently find gait parameters that optimize the desired performance metric. As a proof of concept we demonstrate that Bayesian optimization is near-optimal in a classical stochastic optimal control framework. Moreover, we validate our approach to Bayesian gait optimization on a low-cost and fragile real bipedal walker and show that good walking gaits can be efficiently found by Bayesian optimization. © 2014 Springer International Publishing

Scalable Bayesian modeling, monitoring and analysis of dynamic network flow data

Traffic flow count data in networks arise in many applications, such as automobile or aviation transportation, certain directed social network contexts, and Internet studies. Using an example of Internet browser traffic flow through site-segments of an international news website, we present Bayesian analyses of two linked classes of models which, in tandem, allow fast, scalable and interpretable Bayesian inference. We first develop flexible state-space models for streaming count data, able to adaptively characterize and quantify network dynamics efficiently in real-time. We then use these models as emulators of more structured, time-varying gravity models that allow formal dissection of network dynamics. This yields interpretable inferences on traffic flow characteristics, and on dynamics in interactions among network nodes. Bayesian monitoring theory defines a strategy for sequential model assessment and adaptation in cases when network flow data deviates from model-based predictions. Exploratory and sequential monitoring analyses of evolving traffic on a network of web site-segments in e-commerce demonstrate the utility of this coupled Bayesian emulation approach to analysis of streaming network count data.Comment: 29 pages, 16 figure

InferenceMAP: Mapping of Single-Molecule Dynamics with Bayesian Inference

Single-particle tracking (SPT) grants unprecedented insight into cellular function at the molecular scale [1]. Throughout the cell, the movement of single-molecules is generally heterogeneous and complex. Hence, there is an imperative to understand the multi-scale nature of single-molecule dynamics in biological systems. We have previously shown that with high-density SPT, spatial maps of the parameters that dictate molecule motion can be generated to intricately describe cellular environments [2,3,4]. To date, however, there exist no publically available tools that reconcile trajectory data to generate the aforementioned maps. We address this void in the SPT community with InferenceMAP: an interactive software package that uses a powerful Bayesian method to map the dynamic cellular space experienced by individual biomolecules.Comment: 56 page

Human Motion Trajectory Prediction: A Survey

With growing numbers of intelligent autonomous systems in human environments, the ability of such systems to perceive, understand and anticipate human behavior becomes increasingly important. Specifically, predicting future positions of dynamic agents and planning considering such predictions are key tasks for self-driving vehicles, service robots and advanced surveillance systems. This paper provides a survey of human motion trajectory prediction. We review, analyze and structure a large selection of work from different communities and propose a taxonomy that categorizes existing methods based on the motion modeling approach and level of contextual information used. We provide an overview of the existing datasets and performance metrics. We discuss limitations of the state of the art and outline directions for further research.Comment: Submitted to the International Journal of Robotics Research (IJRR), 37 page