Unsupervised Contact Learning for Humanoid Estimation and Control

This work presents a method for contact state estimation using fuzzy clustering to learn contact probability for full, six-dimensional humanoid contacts. The data required for training is solely from proprioceptive sensors - endeffector contact wrench sensors and inertial measurement units (IMUs) - and the method is completely unsupervised. The resulting cluster means are used to efficiently compute the probability of contact in each of the six endeffector degrees of freedom (DoFs) independently. This clustering-based contact probability estimator is validated in a kinematics-based base state estimator in a simulation environment with realistic added sensor noise for locomotion over rough, low-friction terrain on which the robot is subject to foot slip and rotation. The proposed base state estimator which utilizes these six DoF contact probability estimates is shown to perform considerably better than that which determines kinematic contact constraints purely based on measured normal force.Comment: Submitted to the IEEE International Conference on Robotics and Automation (ICRA) 201

Unsupervised Contact Learning for Humanoid Estimation and Control

This work presents a method for contact state estimation using fuzzy clustering to learn contact probability for full, six-dimensional humanoid contacts. The data required for training is solely from proprioceptive sensors - endeffector contact wrench sensors and inertial measurement units (IMUs) - and the method is completely unsupervised. The resulting cluster means are used to efficiently compute the probability of contact in each of the six endeffector degrees of freedom (DoFs) independently. This clustering-based contact probability estimator is validated in a kinematics-based base state estimator in a simulation environment with realistic added sensor noise for locomotion over rough, low-friction terrain on which the robot is subject to foot slip and rotation. The proposed base state estimator which utilizes these six DoF contact probability estimates is shown to perform considerably better than that which determines kinematic contact constraints purely based on measured normal force.Comment: Submitted to the IEEE International Conference on Robotics and Automation (ICRA) 201

Understanding research dynamics

Rexplore leverages novel solutions in data mining, semantic technologies and visual analytics, and provides an innovative environment for exploring and making sense of scholarly data. Rexplore allows users: 1) to detect and make sense of important trends in research; 2) to identify a variety of interesting relations between researchers, beyond the standard co-authorship relations provided by most other systems; 3) to perform fine-grained expert search with respect to detailed multi-dimensional parameters; 4) to detect and characterize the dynamics of interesting communities of researchers, identified on the basis of shared research interests and scientific trajectories; 5) to analyse research performance at different levels of abstraction, including individual researchers, organizations, countries, and research communities

Lexicon Infused Phrase Embeddings for Named Entity Resolution

Most state-of-the-art approaches for named-entity recognition (NER) use semi supervised information in the form of word clusters and lexicons. Recently neural network-based language models have been explored, as they as a byproduct generate highly informative vector representations for words, known as word embeddings. In this paper we present two contributions: a new form of learning word embeddings that can leverage information from relevant lexicons to improve the representations, and the first system to use neural word embeddings to achieve state-of-the-art results on named-entity recognition in both CoNLL and Ontonotes NER. Our system achieves an F1 score of 90.90 on the test set for CoNLL 2003---significantly better than any previous system trained on public data, and matching a system employing massive private industrial query-log data.Comment: Accepted in CoNLL 201

Clustering Patients with Tensor Decomposition

In this paper we present a method for the unsupervised clustering of high-dimensional binary data, with a special focus on electronic healthcare records. We present a robust and efficient heuristic to face this problem using tensor decomposition. We present the reasons why this approach is preferable for tasks such as clustering patient records, to more commonly used distance-based methods. We run the algorithm on two datasets of healthcare records, obtaining clinically meaningful results.Comment: Presented at 2017 Machine Learning for Healthcare Conference (MLHC 2017). Boston, M

Constructing Epistemic Landscapes: Methods of GIS-Based Mapping

The construction of knowledge maps, demonstrated in this paper, is designed to show the epistemic landscape of cities, countries or regions. Knowledge assets, knowledge producing and disseminating organisations are referenced to spatial objects and integrated into GIS. They are further represented in thematic maps and in 3-D perspective graphs. Special attention is given to mapping and measuring knowledge clusters. Statistical procedures to measure the degree of knowledge clustering are discussed and ways are indicated to compare and determine the emergence of knowledge clusters. We conclude that the construction of knowledge maps showing the complexity of epistemic landscapes will enhance the chances of government agencies, companies and civic organisations to understand and use knowledge for development. This paper is in the first place meant as guideline for the related analysis.Knowledge and development; knowledge maps; epistemic landscapes; knowledge clusters; Geographic Information System (GIS)

Relation Discovery from Web Data for Competency Management

This paper describes a technique for automatically discovering associations between people and expertise from an analysis of very large data sources (including web pages, blogs and emails), using a family of algorithms that perform accurate named-entity recognition, assign different weights to terms according to an analysis of document structure, and access distances between terms in a document. My contribution is to add a social networking approach called BuddyFinder which relies on associations within a large enterprise-wide "buddy list" to help delimit the search space and also to provide a form of 'social triangulation' whereby the system can discover documents from your colleagues that contain pertinent information about you. This work has been influential in the information retrieval community generally, as it is the basis of a landmark system that achieved overall first place in every category in the Enterprise Search Track of TREC2006