Conceptual spatial representations for indoor mobile robots

We present an approach for creating conceptual representations of human-made indoor environments using mobile robots. The concepts refer to spatial and functional properties of typical indoor environments. Following findings in cognitive psychology, our model is composed of layers representing maps at different levels of abstraction. The complete system is integrated in a mobile robot endowed with laser and vision sensors for place and object recognition. The system also incorporates a linguistic framework that actively supports the map acquisition process, and which is used for situated dialogue. Finally, we discuss the capabilities of the integrated system

Persistent Homology of Attractors For Action Recognition

In this paper, we propose a novel framework for dynamical analysis of human actions from 3D motion capture data using topological data analysis. We model human actions using the topological features of the attractor of the dynamical system. We reconstruct the phase-space of time series corresponding to actions using time-delay embedding, and compute the persistent homology of the phase-space reconstruction. In order to better represent the topological properties of the phase-space, we incorporate the temporal adjacency information when computing the homology groups. The persistence of these homology groups encoded using persistence diagrams are used as features for the actions. Our experiments with action recognition using these features demonstrate that the proposed approach outperforms other baseline methods.Comment: 5 pages, Under review in International Conference on Image Processin

Knowledge Representation for Robots through Human-Robot Interaction

The representation of the knowledge needed by a robot to perform complex tasks is restricted by the limitations of perception. One possible way of overcoming this situation and designing "knowledgeable" robots is to rely on the interaction with the user. We propose a multi-modal interaction framework that allows to effectively acquire knowledge about the environment where the robot operates. In particular, in this paper we present a rich representation framework that can be automatically built from the metric map annotated with the indications provided by the user. Such a representation, allows then the robot to ground complex referential expressions for motion commands and to devise topological navigation plans to achieve the target locations.Comment: Knowledge Representation and Reasoning in Robotics Workshop at ICLP 201

The initiation to architectural analysis viewed by a group of architect teachers

Ponencia presentada a Session 4: Investigar los procesos de diseño: etnografías y análisis de dialogías sociales / Research through the design processes: etnographic and social dialogical perspectivesThis article is about a pedagogical experience in architecture workshop teaching first-year student? at the National School of architecture of Tunis (ENAU). It focuses, in particular, on the initiation of the student to the architectural analysis process which is a major step in his course. The present work is based on a comparative study between the statements of the exercises related to the topics studied in the workshop. This comparison covers a period of eight years of teaching for the same group of teachers, and deals with their conception of architectural analysis and their way to approaching this initiation to their students. For this purpose, the Group of teachers has implemented an analysis grid that serves, to guide students in their work, and provides a good understanding of the architectural analysis as a process and brain action summoning both the senses and the mind. For this, the Group of teachers made the choice that the parameters to be analyzed concern only the geometry and topology of architectural form levels. They built their grid of architectural analysis on the basis of a postulate stating that “an architectural project is a complex act”. Thus, they consider the architectural project as a whole composed of a multitude of elements; a unit that draws its essence from the plurality. They formulate this complexity by the following equation: [An architectural project = A = 1 unit = 1+1+1+1+1...] Where the (1) represents the components of the project and the (+), the relationships that binds them to each other

Representability of algebraic topology for biomolecules in machine learning based scoring and virtual screening

This work introduces a number of algebraic topology approaches, such as multicomponent persistent homology, multi-level persistent homology and electrostatic persistence for the representation, characterization, and description of small molecules and biomolecular complexes. Multicomponent persistent homology retains critical chemical and biological information during the topological simplification of biomolecular geometric complexity. Multi-level persistent homology enables a tailored topological description of inter- and/or intra-molecular interactions of interest. Electrostatic persistence incorporates partial charge information into topological invariants. These topological methods are paired with Wasserstein distance to characterize similarities between molecules and are further integrated with a variety of machine learning algorithms, including k-nearest neighbors, ensemble of trees, and deep convolutional neural networks, to manifest their descriptive and predictive powers for chemical and biological problems. Extensive numerical experiments involving more than 4,000 protein-ligand complexes from the PDBBind database and near 100,000 ligands and decoys in the DUD database are performed to test respectively the scoring power and the virtual screening power of the proposed topological approaches. It is demonstrated that the present approaches outperform the modern machine learning based methods in protein-ligand binding affinity predictions and ligand-decoy discrimination

Visualization of AE's Training on Credit Card Transactions with Persistent Homology

Auto-encoders are among the most popular neural network architecture for dimension reduction. They are composed of two parts: the encoder which maps the model distribution to a latent manifold and the decoder which maps the latent manifold to a reconstructed distribution. However, auto-encoders are known to provoke chaotically scattered data distribution in the latent manifold resulting in an incomplete reconstructed distribution. Current distance measures fail to detect this problem because they are not able to acknowledge the shape of the data manifolds, i.e. their topological features, and the scale at which the manifolds should be analyzed. We propose Persistent Homology for Wasserstein Auto-Encoders, called PHom-WAE, a new methodology to assess and measure the data distribution of a generative model. PHom-WAE minimizes the Wasserstein distance between the true distribution and the reconstructed distribution and uses persistent homology, the study of the topological features of a space at different spatial resolutions, to compare the nature of the latent manifold and the reconstructed distribution. Our experiments underline the potential of persistent homology for Wasserstein Auto-Encoders in comparison to Variational Auto-Encoders, another type of generative model. The experiments are conducted on a real-world data set particularly challenging for traditional distance measures and auto-encoders. PHom-WAE is the first methodology to propose a topological distance measure, the bottleneck distance, for Wasserstein Auto-Encoders used to compare decoded samples of high quality in the context of credit card transactions.Comment: arXiv admin note: substantial text overlap with arXiv:1905.0989

The spatiotemporal representation of dance and music gestures using topological gesture analysis (TGA)

SPATIOTEMPORAL GESTURES IN MUSIC AND DANCE HAVE been approached using both qualitative and quantitative research methods. Applying quantitative methods has offered new perspectives but imposed several constraints such as artificial metric systems, weak links with qualitative information, and incomplete accounts of variability. In this study, we tackle these problems using concepts from topology to analyze gestural relationships in space. The Topological Gesture Analysis (TGA) relies on the projection of musical cues onto gesture trajectories, which generates point clouds in a three-dimensional space. Point clouds can be interpreted as topologies equipped with musical qualities, which gives us an idea about the relationships between gesture, space, and music. Using this method, we investigate the relationships between musical meter, dance style, and expertise in two popular dances (samba and Charleston). The results show how musical meter is encoded in the dancer's space and how relevant information about styles and expertise can be revealed by means of simple topological relationships