Learning to Transform Time Series with a Few Examples

We describe a semi-supervised regression algorithm that learns to transform one time series into another time series given examples of the transformation. This algorithm is applied to tracking, where a time series of observations from sensors is transformed to a time series describing the pose of a target. Instead of defining and implementing such transformations for each tracking task separately, our algorithm learns a memoryless transformation of time series from a few example input-output mappings. The algorithm searches for a smooth function that fits the training examples and, when applied to the input time series, produces a time series that evolves according to assumed dynamics. The learning procedure is fast and lends itself to a closed-form solution. It is closely related to nonlinear system identification and manifold learning techniques. We demonstrate our algorithm on the tasks of tracking RFID tags from signal strength measurements, recovering the pose of rigid objects, deformable bodies, and articulated bodies from video sequences. For these tasks, this algorithm requires significantly fewer examples compared to fully-supervised regression algorithms or semi-supervised learning algorithms that do not take the dynamics of the output time series into account

The What-And-Where Filter: A Spatial Mapping Neural Network for Object Recognition and Image Understanding

The What-and-Where filter forms part of a neural network architecture for spatial mapping, object recognition, and image understanding. The Where fllter responds to an image figure that has been separated from its background. It generates a spatial map whose cell activations simultaneously represent the position, orientation, ancl size of all tbe figures in a scene (where they are). This spatial map may he used to direct spatially localized attention to these image features. A multiscale array of oriented detectors, followed by competitve and interpolative interactions between position, orientation, and size scales, is used to define the Where filter. This analysis discloses several issues that need to be dealt with by a spatial mapping system that is based upon oriented filters, such as the role of cliff filters with and without normalization, the double peak problem of maximum orientation across size scale, and the different self-similar interpolation properties across orientation than across size scale. Several computationally efficient Where filters are proposed. The Where filter rnay be used for parallel transformation of multiple image figures into invariant representations that are insensitive to the figures' original position, orientation, and size. These invariant figural representations form part of a system devoted to attentive object learning and recognition (what it is). Unlike some alternative models where serial search for a target occurs, a What and Where representation can he used to rapidly search in parallel for a desired target in a scene. Such a representation can also be used to learn multidimensional representations of objects and their spatial relationships for purposes of image understanding. The What-and-Where filter is inspired by neurobiological data showing that a Where processing stream in the cerebral cortex is used for attentive spatial localization and orientation, whereas a What processing stream is used for attentive object learning and recognition.Advanced Research Projects Agency (ONR-N00014-92-J-4015, AFOSR 90-0083); British Petroleum (89-A-1204); National Science Foundation (IRI-90-00530, Graduate Fellowship); Office of Naval Research (N00014-91-J-4100, N00014-95-1-0409, N00014-95-1-0657); Air Force Office of Scientific Research (F49620-92-J-0499, F49620-92-J-0334

An introduction to time-resolved decoding analysis for M/EEG

The human brain is constantly processing and integrating information in order to make decisions and interact with the world, for tasks from recognizing a familiar face to playing a game of tennis. These complex cognitive processes require communication between large populations of neurons. The non-invasive neuroimaging methods of electroencephalography (EEG) and magnetoencephalography (MEG) provide population measures of neural activity with millisecond precision that allow us to study the temporal dynamics of cognitive processes. However, multi-sensor M/EEG data is inherently high dimensional, making it difficult to parse important signal from noise. Multivariate pattern analysis (MVPA) or "decoding" methods offer vast potential for understanding high-dimensional M/EEG neural data. MVPA can be used to distinguish between different conditions and map the time courses of various neural processes, from basic sensory processing to high-level cognitive processes. In this chapter, we discuss the practical aspects of performing decoding analyses on M/EEG data as well as the limitations of the method, and then we discuss some applications for understanding representational dynamics in the human brain

Intelligent manipulation technique for multi-branch robotic systems

New analytical development in kinematics planning is reported. The INtelligent KInematics Planner (INKIP) consists of the kinematics spline theory and the adaptive logic annealing process. Also, a novel framework of robot learning mechanism is introduced. The FUzzy LOgic Self Organized Neural Networks (FULOSONN) integrates fuzzy logic in commands, control, searching, and reasoning, the embedded expert system for nominal robotics knowledge implementation, and the self organized neural networks for the dynamic knowledge evolutionary process. Progress on the mechanical construction of SRA Advanced Robotic System (SRAARS) and the real time robot vision system is also reported. A decision was made to incorporate the Local Area Network (LAN) technology in the overall communication system

Parsimonious Time Series Clustering

We introduce a parsimonious model-based framework for clustering time course data. In these applications the computational burden becomes often an issue due to the number of available observations. The measured time series can also be very noisy and sparse and a suitable model describing them can be hard to define. We propose to model the observed measurements by using P-spline smoothers and to cluster the functional objects as summarized by the optimal spline coefficients. In principle, this idea can be adopted within all the most common clustering frameworks. In this work we discuss applications based on a k-means algorithm. We evaluate the accuracy and the efficiency of our proposal by simulations and by dealing with drosophila melanogaster gene expression data

Statistical Learning in Wasserstein Space

We seek a generalization of regression and principle component analysis (PCA) in a metric space where data points are distributions metrized by the Wasserstein metric. We recast these analyses as multimarginal optimal transport problems. The particular formulation allows efficient computation, ensures existence of optimal solutions, and admits a probabilistic interpretation over the space of paths (line segments). Application of the theory to the interpolation of empirical distributions, images, power spectra, as well as assessing uncertainty in experimental designs, is envisioned

Information Surfaces in Systems Biology and Applications to Engineering Sustainable Agriculture

Systems biology of plants offers myriad opportunities and many challenges in modeling. A number of technical challenges stem from paucity of computational methods for discovery of the most fundamental properties of complex dynamical systems. In systems engineering, eigen-mode analysis have proved to be a powerful approach. Following this philosophy, we introduce a new theory that has the benefits of eigen-mode analysis, while it allows investigation of complex dynamics prior to estimation of optimal scales and resolutions. Information Surfaces organizes the many intricate relationships among "eigen-modes" of gene networks at multiple scales and via an adaptable multi-resolution analytic approach that permits discovery of the appropriate scale and resolution for discovery of functions of genes in the model plant Arabidopsis. Applications are many, and some pertain developments of crops that sustainable agriculture requires.Comment: 24 Pages, DoCEIS 1

Dynamical Optimal Transport on Discrete Surfaces

We propose a technique for interpolating between probability distributions on discrete surfaces, based on the theory of optimal transport. Unlike previous attempts that use linear programming, our method is based on a dynamical formulation of quadratic optimal transport proposed for flat domains by Benamou and Brenier [2000], adapted to discrete surfaces. Our structure-preserving construction yields a Riemannian metric on the (finite-dimensional) space of probability distributions on a discrete surface, which translates the so-called Otto calculus to discrete language. From a practical perspective, our technique provides a smooth interpolation between distributions on discrete surfaces with less diffusion than state-of-the-art algorithms involving entropic regularization. Beyond interpolation, we show how our discrete notion of optimal transport extends to other tasks, such as distribution-valued Dirichlet problems and time integration of gradient flows