11,662 research outputs found
STWalk: Learning Trajectory Representations in Temporal Graphs
Analyzing the temporal behavior of nodes in time-varying graphs is useful for
many applications such as targeted advertising, community evolution and outlier
detection. In this paper, we present a novel approach, STWalk, for learning
trajectory representations of nodes in temporal graphs. The proposed framework
makes use of structural properties of graphs at current and previous time-steps
to learn effective node trajectory representations. STWalk performs random
walks on a graph at a given time step (called space-walk) as well as on graphs
from past time-steps (called time-walk) to capture the spatio-temporal behavior
of nodes. We propose two variants of STWalk to learn trajectory
representations. In one algorithm, we perform space-walk and time-walk as part
of a single step. In the other variant, we perform space-walk and time-walk
separately and combine the learned representations to get the final trajectory
embedding. Extensive experiments on three real-world temporal graph datasets
validate the effectiveness of the learned representations when compared to
three baseline methods. We also show the goodness of the learned trajectory
embeddings for change point detection, as well as demonstrate that arithmetic
operations on these trajectory representations yield interesting and
interpretable results.Comment: 10 pages, 5 figures, 2 table
Recurrence-based time series analysis by means of complex network methods
Complex networks are an important paradigm of modern complex systems sciences
which allows quantitatively assessing the structural properties of systems
composed of different interacting entities. During the last years, intensive
efforts have been spent on applying network-based concepts also for the
analysis of dynamically relevant higher-order statistical properties of time
series. Notably, many corresponding approaches are closely related with the
concept of recurrence in phase space. In this paper, we review recent
methodological advances in time series analysis based on complex networks, with
a special emphasis on methods founded on recurrence plots. The potentials and
limitations of the individual methods are discussed and illustrated for
paradigmatic examples of dynamical systems as well as for real-world time
series. Complex network measures are shown to provide information about
structural features of dynamical systems that are complementary to those
characterized by other methods of time series analysis and, hence,
substantially enrich the knowledge gathered from other existing (linear as well
as nonlinear) approaches.Comment: To be published in International Journal of Bifurcation and Chaos
(2011
Geometric Cross-Modal Comparison of Heterogeneous Sensor Data
In this work, we address the problem of cross-modal comparison of aerial data
streams. A variety of simulated automobile trajectories are sensed using two
different modalities: full-motion video, and radio-frequency (RF) signals
received by detectors at various locations. The information represented by the
two modalities is compared using self-similarity matrices (SSMs) corresponding
to time-ordered point clouds in feature spaces of each of these data sources;
we note that these feature spaces can be of entirely different scale and
dimensionality. Several metrics for comparing SSMs are explored, including a
cutting-edge time-warping technique that can simultaneously handle local time
warping and partial matches, while also controlling for the change in geometry
between feature spaces of the two modalities. We note that this technique is
quite general, and does not depend on the choice of modalities. In this
particular setting, we demonstrate that the cross-modal distance between SSMs
corresponding to the same trajectory type is smaller than the cross-modal
distance between SSMs corresponding to distinct trajectory types, and we
formalize this observation via precision-recall metrics in experiments.
Finally, we comment on promising implications of these ideas for future
integration into multiple-hypothesis tracking systems.Comment: 10 pages, 13 figures, Proceedings of IEEE Aeroconf 201
Time-Contrastive Networks: Self-Supervised Learning from Video
We propose a self-supervised approach for learning representations and
robotic behaviors entirely from unlabeled videos recorded from multiple
viewpoints, and study how this representation can be used in two robotic
imitation settings: imitating object interactions from videos of humans, and
imitating human poses. Imitation of human behavior requires a
viewpoint-invariant representation that captures the relationships between
end-effectors (hands or robot grippers) and the environment, object attributes,
and body pose. We train our representations using a metric learning loss, where
multiple simultaneous viewpoints of the same observation are attracted in the
embedding space, while being repelled from temporal neighbors which are often
visually similar but functionally different. In other words, the model
simultaneously learns to recognize what is common between different-looking
images, and what is different between similar-looking images. This signal
causes our model to discover attributes that do not change across viewpoint,
but do change across time, while ignoring nuisance variables such as
occlusions, motion blur, lighting and background. We demonstrate that this
representation can be used by a robot to directly mimic human poses without an
explicit correspondence, and that it can be used as a reward function within a
reinforcement learning algorithm. While representations are learned from an
unlabeled collection of task-related videos, robot behaviors such as pouring
are learned by watching a single 3rd-person demonstration by a human. Reward
functions obtained by following the human demonstrations under the learned
representation enable efficient reinforcement learning that is practical for
real-world robotic systems. Video results, open-source code and dataset are
available at https://sermanet.github.io/imitat
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