8,935 research outputs found
Kernel Belief Propagation
We propose a nonparametric generalization of belief propagation, Kernel
Belief Propagation (KBP), for pairwise Markov random fields. Messages are
represented as functions in a reproducing kernel Hilbert space (RKHS), and
message updates are simple linear operations in the RKHS. KBP makes none of the
assumptions commonly required in classical BP algorithms: the variables need
not arise from a finite domain or a Gaussian distribution, nor must their
relations take any particular parametric form. Rather, the relations between
variables are represented implicitly, and are learned nonparametrically from
training data. KBP has the advantage that it may be used on any domain where
kernels are defined (Rd, strings, groups), even where explicit parametric
models are not known, or closed form expressions for the BP updates do not
exist. The computational cost of message updates in KBP is polynomial in the
training data size. We also propose a constant time approximate message update
procedure by representing messages using a small number of basis functions. In
experiments, we apply KBP to image denoising, depth prediction from still
images, and protein configuration prediction: KBP is faster than competing
classical and nonparametric approaches (by orders of magnitude, in some cases),
while providing significantly more accurate results
A Survey on Metric Learning for Feature Vectors and Structured Data
The need for appropriate ways to measure the distance or similarity between
data is ubiquitous in machine learning, pattern recognition and data mining,
but handcrafting such good metrics for specific problems is generally
difficult. This has led to the emergence of metric learning, which aims at
automatically learning a metric from data and has attracted a lot of interest
in machine learning and related fields for the past ten years. This survey
paper proposes a systematic review of the metric learning literature,
highlighting the pros and cons of each approach. We pay particular attention to
Mahalanobis distance metric learning, a well-studied and successful framework,
but additionally present a wide range of methods that have recently emerged as
powerful alternatives, including nonlinear metric learning, similarity learning
and local metric learning. Recent trends and extensions, such as
semi-supervised metric learning, metric learning for histogram data and the
derivation of generalization guarantees, are also covered. Finally, this survey
addresses metric learning for structured data, in particular edit distance
learning, and attempts to give an overview of the remaining challenges in
metric learning for the years to come.Comment: Technical report, 59 pages. Changes in v2: fixed typos and improved
presentation. Changes in v3: fixed typos. Changes in v4: fixed typos and new
method
Unsupervised Feature Selection with Adaptive Structure Learning
The problem of feature selection has raised considerable interests in the
past decade. Traditional unsupervised methods select the features which can
faithfully preserve the intrinsic structures of data, where the intrinsic
structures are estimated using all the input features of data. However, the
estimated intrinsic structures are unreliable/inaccurate when the redundant and
noisy features are not removed. Therefore, we face a dilemma here: one need the
true structures of data to identify the informative features, and one need the
informative features to accurately estimate the true structures of data. To
address this, we propose a unified learning framework which performs structure
learning and feature selection simultaneously. The structures are adaptively
learned from the results of feature selection, and the informative features are
reselected to preserve the refined structures of data. By leveraging the
interactions between these two essential tasks, we are able to capture accurate
structures and select more informative features. Experimental results on many
benchmark data sets demonstrate that the proposed method outperforms many state
of the art unsupervised feature selection methods
Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits
Optimizing lower-body exoskeleton walking gaits for user comfort requires understanding users’ preferences over a high-dimensional gait parameter space. However, existing preference-based learning methods have only explored low-dimensional domains due to computational limitations. To learn user preferences in high dimensions, this work presents LINECOSPAR, a human-in-the-loop preference-based framework that enables optimization over many parameters by iteratively exploring one-dimensional subspaces. Additionally, this work identifies gait attributes that characterize broader preferences across users. In simulations and human trials, we empirically verify that LINECOSPAR is a sample-efficient approach for high-dimensional preference optimization. Our analysis of the experimental data reveals a correspondence between human preferences and objective measures of dynamicity, while also highlighting differences in the utility functions underlying individual users’ gait preferences. This result has implications for exoskeleton gait synthesis, an active field with applications to clinical use and patient rehabilitation
Articulated Clinician Detection Using 3D Pictorial Structures on RGB-D Data
Reliable human pose estimation (HPE) is essential to many clinical
applications, such as surgical workflow analysis, radiation safety monitoring
and human-robot cooperation. Proposed methods for the operating room (OR) rely
either on foreground estimation using a multi-camera system, which is a
challenge in real ORs due to color similarities and frequent illumination
changes, or on wearable sensors or markers, which are invasive and therefore
difficult to introduce in the room. Instead, we propose a novel approach based
on Pictorial Structures (PS) and on RGB-D data, which can be easily deployed in
real ORs. We extend the PS framework in two ways. First, we build robust and
discriminative part detectors using both color and depth images. We also
present a novel descriptor for depth images, called histogram of depth
differences (HDD). Second, we extend PS to 3D by proposing 3D pairwise
constraints and a new method that makes exact inference tractable. Our approach
is evaluated for pose estimation and clinician detection on a challenging RGB-D
dataset recorded in a busy operating room during live surgeries. We conduct
series of experiments to study the different part detectors in conjunction with
the various 2D or 3D pairwise constraints. Our comparisons demonstrate that 3D
PS with RGB-D part detectors significantly improves the results in a visually
challenging operating environment.Comment: The supplementary video is available at https://youtu.be/iabbGSqRSg
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