7,949 research outputs found

    Spatio-temporal learning with the online finite and infinite echo-state Gaussian processes

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    Successful biological systems adapt to change. In this paper, we are principally concerned with adaptive systems that operate in environments where data arrives sequentially and is multivariate in nature, for example, sensory streams in robotic systems. We contribute two reservoir inspired methods: 1) the online echostate Gaussian process (OESGP) and 2) its infinite variant, the online infinite echostate Gaussian process (OIESGP) Both algorithms are iterative fixed-budget methods that learn from noisy time series. In particular, the OESGP combines the echo-state network with Bayesian online learning for Gaussian processes. Extending this to infinite reservoirs yields the OIESGP, which uses a novel recursive kernel with automatic relevance determination that enables spatial and temporal feature weighting. When fused with stochastic natural gradient descent, the kernel hyperparameters are iteratively adapted to better model the target system. Furthermore, insights into the underlying system can be gleamed from inspection of the resulting hyperparameters. Experiments on noisy benchmark problems (one-step prediction and system identification) demonstrate that our methods yield high accuracies relative to state-of-the-art methods, and standard kernels with sliding windows, particularly on problems with irrelevant dimensions. In addition, we describe two case studies in robotic learning-by-demonstration involving the Nao humanoid robot and the Assistive Robot Transport for Youngsters (ARTY) smart wheelchair

    Distributed Adaptive Learning with Multiple Kernels in Diffusion Networks

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    We propose an adaptive scheme for distributed learning of nonlinear functions by a network of nodes. The proposed algorithm consists of a local adaptation stage utilizing multiple kernels with projections onto hyperslabs and a diffusion stage to achieve consensus on the estimates over the whole network. Multiple kernels are incorporated to enhance the approximation of functions with several high and low frequency components common in practical scenarios. We provide a thorough convergence analysis of the proposed scheme based on the metric of the Cartesian product of multiple reproducing kernel Hilbert spaces. To this end, we introduce a modified consensus matrix considering this specific metric and prove its equivalence to the ordinary consensus matrix. Besides, the use of hyperslabs enables a significant reduction of the computational demand with only a minor loss in the performance. Numerical evaluations with synthetic and real data are conducted showing the efficacy of the proposed algorithm compared to the state of the art schemes.Comment: Double-column 15 pages, 10 figures, submitted to IEEE Trans. Signal Processin

    An oil painters recognition method based on cluster multiple kernel learning algorithm

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    A lot of image processing research works focus on natural images, such as in classification, clustering, and the research on the recognition of artworks (such as oil paintings), from feature extraction to classifier design, is relatively few. This paper focuses on oil painter recognition and tries to find the mobile application to recognize the painter. This paper proposes a cluster multiple kernel learning algorithm, which extracts oil painting features from three aspects: color, texture, and spatial layout, and generates multiple candidate kernels with different kernel functions. With the results of clustering numerous candidate kernels, we selected the sub-kernels with better classification performance, and use the traditional multiple kernel learning algorithm to carry out the multi-feature fusion classification. The algorithm achieves a better result on the Painting91 than using traditional multiple kernel learning directly
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