157 research outputs found
Space-efficient Feature Maps for String Alignment Kernels
String kernels are attractive data analysis tools for analyzing string data.
Among them, alignment kernels are known for their high prediction accuracies in
string classifications when tested in combination with SVM in various
applications. However, alignment kernels have a crucial drawback in that they
scale poorly due to their quadratic computation complexity in the number of
input strings, which limits large-scale applications in practice. We address
this need by presenting the first approximation for string alignment kernels,
which we call space-efficient feature maps for edit distance with moves
(SFMEDM), by leveraging a metric embedding named edit sensitive parsing (ESP)
and feature maps (FMs) of random Fourier features (RFFs) for large-scale string
analyses. The original FMs for RFFs consume a huge amount of memory
proportional to the dimension d of input vectors and the dimension D of output
vectors, which prohibits its large-scale applications. We present novel
space-efficient feature maps (SFMs) of RFFs for a space reduction from O(dD) of
the original FMs to O(d) of SFMs with a theoretical guarantee with respect to
concentration bounds. We experimentally test SFMEDM on its ability to learn SVM
for large-scale string classifications with various massive string data, and we
demonstrate the superior performance of SFMEDM with respect to prediction
accuracy, scalability and computation efficiency.Comment: Full version for ICDM'19 pape
Goal Set Inverse Optimal Control and Iterative Re-planning for Predicting Human Reaching Motions in Shared Workspaces
To enable safe and efficient human-robot collaboration in shared workspaces
it is important for the robot to predict how a human will move when performing
a task. While predicting human motion for tasks not known a priori is very
challenging, we argue that single-arm reaching motions for known tasks in
collaborative settings (which are especially relevant for manufacturing) are
indeed predictable. Two hypotheses underlie our approach for predicting such
motions: First, that the trajectory the human performs is optimal with respect
to an unknown cost function, and second, that human adaptation to their
partner's motion can be captured well through iterative re-planning with the
above cost function. The key to our approach is thus to learn a cost function
which "explains" the motion of the human. To do this, we gather example
trajectories from pairs of participants performing a collaborative assembly
task using motion capture. We then use Inverse Optimal Control to learn a cost
function from these trajectories. Finally, we predict reaching motions from the
human's current configuration to a task-space goal region by iteratively
re-planning a trajectory using the learned cost function. Our planning
algorithm is based on the trajectory optimizer STOMP, it plans for a 23 DoF
human kinematic model and accounts for the presence of a moving collaborator
and obstacles in the environment. Our results suggest that in most cases, our
method outperforms baseline methods when predicting motions. We also show that
our method outperforms baselines for predicting human motion when a human and a
robot share the workspace.Comment: 12 pages, Accepted for publication IEEE Transaction on Robotics 201
Anisotropic diffusion on sub-manifolds with application to Earth structure classification
AbstractWe introduce a method to re-parameterize massive high dimensional data, generated by nonlinear mixing, into its independent physical parameters. Our method enables the identification of the original parameters and their extension to new observations without any knowledge of the true physical model. The suggested approach in this paper is related to spectral independent components analysis (ICA) via the construction of an anisotropic diffusion kernel whose eigenfunctions comprise the independent components. However, we use a novel anisotropic diffusion process, utilizing only a small observed subset Y¯, that approximates the isotropic diffusion on the parametric manifold MX of the full set Y. We employ a Nyström-type extension of the independent components of Y¯ to the independent components of Y, and provide a validation scheme for our algorithm parameters choice. We demonstrate our method on synthetic examples and on real application examples
IVFS: Simple and Efficient Feature Selection for High Dimensional Topology Preservation
Feature selection is an important tool to deal with high dimensional data. In
unsupervised case, many popular algorithms aim at maintaining the structure of
the original data. In this paper, we propose a simple and effective feature
selection algorithm to enhance sample similarity preservation through a new
perspective, topology preservation, which is represented by persistent diagrams
from the context of computational topology. This method is designed upon a
unified feature selection framework called IVFS, which is inspired by random
subset method. The scheme is flexible and can handle cases where the problem is
analytically intractable. The proposed algorithm is able to well preserve the
pairwise distances, as well as topological patterns, of the full data. We
demonstrate that our algorithm can provide satisfactory performance under a
sharp sub-sampling rate, which supports efficient implementation of our
proposed method to large scale datasets. Extensive experiments validate the
effectiveness of the proposed feature selection scheme
Data-Driven Representation Learning in Multimodal Feature Fusion
abstract: Modern machine learning systems leverage data and features from multiple modalities to gain more predictive power. In most scenarios, the modalities are vastly different and the acquired data are heterogeneous in nature. Consequently, building highly effective fusion algorithms is at the core to achieve improved model robustness and inferencing performance. This dissertation focuses on the representation learning approaches as the fusion strategy. Specifically, the objective is to learn the shared latent representation which jointly exploit the structural information encoded in all modalities, such that a straightforward learning model can be adopted to obtain the prediction.
We first consider sensor fusion, a typical multimodal fusion problem critical to building a pervasive computing platform. A systematic fusion technique is described to support both multiple sensors and descriptors for activity recognition. Targeted to learn the optimal combination of kernels, Multiple Kernel Learning (MKL) algorithms have been successfully applied to numerous fusion problems in computer vision etc. Utilizing the MKL formulation, next we describe an auto-context algorithm for learning image context via the fusion with low-level descriptors. Furthermore, a principled fusion algorithm using deep learning to optimize kernel machines is developed. By bridging deep architectures with kernel optimization, this approach leverages the benefits of both paradigms and is applied to a wide variety of fusion problems.
In many real-world applications, the modalities exhibit highly specific data structures, such as time sequences and graphs, and consequently, special design of the learning architecture is needed. In order to improve the temporal modeling for multivariate sequences, we developed two architectures centered around attention models. A novel clinical time series analysis model is proposed for several critical problems in healthcare. Another model coupled with triplet ranking loss as metric learning framework is described to better solve speaker diarization. Compared to state-of-the-art recurrent networks, these attention-based multivariate analysis tools achieve improved performance while having a lower computational complexity. Finally, in order to perform community detection on multilayer graphs, a fusion algorithm is described to derive node embedding from word embedding techniques and also exploit the complementary relational information contained in each layer of the graph.Dissertation/ThesisDoctoral Dissertation Electrical Engineering 201
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