Human-robot interaction and computer-vision-based services for autonomous robots

L'Aprenentatge per Imitació (IL), o Programació de robots per Demostració (PbD), abasta mètodes pels quals un robot aprèn noves habilitats a través de l'orientació humana i la imitació. La PbD s'inspira en la forma en què els éssers humans aprenen noves habilitats per imitació amb la finalitat de desenvolupar mètodes pels quals les noves tasques es poden transferir als robots. Aquesta tesi està motivada per la pregunta genèrica de "què imitar?", Que es refereix al problema de com extreure les característiques essencials d'una tasca. Amb aquesta finalitat, aquí adoptem la perspectiva del Reconeixement d'Accions (AR) per tal de permetre que el robot decideixi el què cal imitar o inferir en interactuar amb un ésser humà. L'enfoc proposat es basa en un mètode ben conegut que prové del processament del llenguatge natural: és a dir, la bossa de paraules (BoW). Aquest mètode s'aplica a grans bases de dades per tal d'obtenir un model entrenat. Encara que BoW és una tècnica d'aprenentatge de màquines que s'utilitza en diversos camps de la investigació, en la classificació d'accions per a l'aprenentatge en robots està lluny de ser acurada. D'altra banda, se centra en la classificació d'objectes i gestos en lloc d'accions. Per tant, en aquesta tesi es demostra que el mètode és adequat, en escenaris de classificació d'accions, per a la fusió d'informació de diferents fonts o de diferents assajos. Aquesta tesi fa tres contribucions: (1) es proposa un mètode general per fer front al reconeixement d'accions i per tant contribuir a l'aprenentatge per imitació; (2) la metodologia pot aplicar-se a grans bases de dades, que inclouen diferents modes de captura de les accions; i (3) el mètode s'aplica específicament en un projecte internacional d'innovació real anomenat Vinbot.El Aprendizaje por Imitación (IL), o Programación de robots por Demostración (PbD), abarca métodos por los cuales un robot aprende nuevas habilidades a través de la orientación humana y la imitación. La PbD se inspira en la forma en que los seres humanos aprenden nuevas habilidades por imitación con el fin de desarrollar métodos por los cuales las nuevas tareas se pueden transferir a los robots. Esta tesis está motivada por la pregunta genérica de "qué imitar?", que se refiere al problema de cómo extraer las características esenciales de una tarea. Con este fin, aquí adoptamos la perspectiva del Reconocimiento de Acciones (AR) con el fin de permitir que el robot decida lo que hay que imitar o inferir al interactuar con un ser humano. El enfoque propuesto se basa en un método bien conocido que proviene del procesamiento del lenguaje natural: es decir, la bolsa de palabras (BoW). Este método se aplica a grandes bases de datos con el fin de obtener un modelo entrenado. Aunque BoW es una técnica de aprendizaje de máquinas que se utiliza en diversos campos de la investigación, en la clasificación de acciones para el aprendizaje en robots está lejos de ser acurada. Además, se centra en la clasificación de objetos y gestos en lugar de acciones. Por lo tanto, en esta tesis se demuestra que el método es adecuado, en escenarios de clasificación de acciones, para la fusión de información de diferentes fuentes o de diferentes ensayos. Esta tesis hace tres contribuciones: (1) se propone un método general para hacer frente al reconocimiento de acciones y por lo tanto contribuir al aprendizaje por imitación; (2) la metodología puede aplicarse a grandes bases de datos, que incluyen diferentes modos de captura de las acciones; y (3) el método se aplica específicamente en un proyecto internacional de innovación real llamado Vinbot.Imitation Learning (IL), or robot Programming by Demonstration (PbD), covers methods by which a robot learns new skills through human guidance and imitation. PbD takes its inspiration from the way humans learn new skills by imitation in order to develop methods by which new tasks can be transmitted to robots. This thesis is motivated by the generic question of “what to imitate?” which concerns the problem of how to extract the essential features of a task. To this end, here we adopt Action Recognition (AR) perspective in order to allow the robot to decide what has to be imitated or inferred when interacting with a human kind. The proposed approach is based on a well-known method from natural language processing: namely, Bag of Words (BoW). This method is applied to large databases in order to obtain a trained model. Although BoW is a machine learning technique that is used in various fields of research, in action classification for robot learning it is far from accurate. Moreover, it focuses on the classification of objects and gestures rather than actions. Thus, in this thesis we show that the method is suitable in action classification scenarios for merging information from different sources or different trials. This thesis makes three contributions: (1) it proposes a general method for dealing with action recognition and thus to contribute to imitation learning; (2) the methodology can be applied to large databases which include different modes of action captures; and (3) the method is applied specifically in a real international innovation project called Vinbot

Explainable, Domain-Adaptive, and Federated Artificial Intelligence in Medicine

Artificial intelligence (AI) continues to transform data analysis in many domains. Progress in each domain is driven by a growing body of annotated data, increased computational resources, and technological innovations. In medicine, the sensitivity of the data, the complexity of the tasks, the potentially high stakes, and a requirement of accountability give rise to a particular set of challenges. In this review, we focus on three key methodological approaches that address some of the particular challenges in AI-driven medical decision making. (1) Explainable AI aims to produce a human-interpretable justification for each output. Such models increase confidence if the results appear plausible and match the clinicians expectations. However, the absence of a plausible explanation does not imply an inaccurate model. Especially in highly non-linear, complex models that are tuned to maximize accuracy, such interpretable representations only reflect a small portion of the justification. (2) Domain adaptation and transfer learning enable AI models to be trained and applied across multiple domains. For example, a classification task based on images acquired on different acquisition hardware. (3) Federated learning enables learning large-scale models without exposing sensitive personal health information. Unlike centralized AI learning, where the centralized learning machine has access to the entire training data, the federated learning process iteratively updates models across multiple sites by exchanging only parameter updates, not personal health data. This narrative review covers the basic concepts, highlights relevant corner-stone and state-of-the-art research in the field, and discusses perspectives.Comment: This paper is accepted in IEEE CAA Journal of Automatica Sinica, Nov. 10 202

An Overview on Artificial Intelligence Techniques for Diagnosis of Schizophrenia Based on Magnetic Resonance Imaging Modalities: Methods, Challenges, and Future Works

Schizophrenia (SZ) is a mental disorder that typically emerges in late adolescence or early adulthood. It reduces the life expectancy of patients by 15 years. Abnormal behavior, perception of emotions, social relationships, and reality perception are among its most significant symptoms. Past studies have revealed the temporal and anterior lobes of hippocampus regions of brain get affected by SZ. Also, increased volume of cerebrospinal fluid (CSF) and decreased volume of white and gray matter can be observed due to this disease. The magnetic resonance imaging (MRI) is the popular neuroimaging technique used to explore structural/functional brain abnormalities in SZ disorder owing to its high spatial resolution. Various artificial intelligence (AI) techniques have been employed with advanced image/signal processing methods to obtain accurate diagnosis of SZ. This paper presents a comprehensive overview of studies conducted on automated diagnosis of SZ using MRI modalities. Main findings, various challenges, and future works in developing the automated SZ detection are described in this paper

Multigranulation Super-Trust Model for Attribute Reduction

IEEE As big data often contains a significant amount of uncertain, unstructured and imprecise data that are structurally complex and incomplete, traditional attribute reduction methods are less effective when applied to large-scale incomplete information systems to extract knowledge. Multigranular computing provides a powerful tool for use in big data analysis conducted at different levels of information granularity. In this paper, we present a novel multigranulation super-trust fuzzy-rough set-based attribute reduction (MSFAR) algorithm to support the formation of hierarchies of information granules of higher types and higher orders, which addresses newly emerging data mining problems in big data analysis. First, a multigranulation super-trust model based on the valued tolerance relation is constructed to identify the fuzzy similarity of the changing knowledge granularity with multimodality attributes. Second, an ensemble consensus compensatory scheme is adopted to calculate the multigranular trust degree based on the reputation at different granularities to create reasonable subproblems with different granulation levels. Third, an equilibrium method of multigranular-coevolution is employed to ensure a wide range of balancing of exploration and exploitation and can classify super elitists’ preferences and detect noncooperative behaviors with a global convergence ability and high search accuracy. The experimental results demonstrate that the MSFAR algorithm achieves a high performance in addressing uncertain and fuzzy attribute reduction problems with a large number of multigranularity variables

A systematic review of the use of Deep Learning in Satellite Imagery for Agriculture

Agricultural research is essential for increasing food production to meet the requirements of an increasing population in the coming decades. Recently, satellite technology has been improving rapidly and deep learning has seen much success in generic computer vision tasks and many application areas which presents an important opportunity to improve analysis of agricultural land. Here we present a systematic review of 150 studies to find the current uses of deep learning on satellite imagery for agricultural research. Although we identify 5 categories of agricultural monitoring tasks, the majority of the research interest is in crop segmentation and yield prediction. We found that, when used, modern deep learning methods consistently outperformed traditional machine learning across most tasks; the only exception was that Long Short-Term Memory (LSTM) Recurrent Neural Networks did not consistently outperform Random Forests (RF) for yield prediction. The reviewed studies have largely adopted methodologies from generic computer vision, except for one major omission: benchmark datasets are not utilised to evaluate models across studies, making it difficult to compare results. Additionally, some studies have specifically utilised the extra spectral resolution available in satellite imagery, but other divergent properties of satellite images - such as the hugely different scales of spatial patterns - are not being taken advantage of in the reviewed studies.Comment: 25 pages, 2 figures and lots of large tables. Supplementary materials section included here in main pd

Tensor Networks for Dimensionality Reduction and Large-Scale Optimizations. Part 2 Applications and Future Perspectives

Part 2 of this monograph builds on the introduction to tensor networks and their operations presented in Part 1. It focuses on tensor network models for super-compressed higher-order representation of data/parameters and related cost functions, while providing an outline of their applications in machine learning and data analytics. A particular emphasis is on the tensor train (TT) and Hierarchical Tucker (HT) decompositions, and their physically meaningful interpretations which reflect the scalability of the tensor network approach. Through a graphical approach, we also elucidate how, by virtue of the underlying low-rank tensor approximations and sophisticated contractions of core tensors, tensor networks have the ability to perform distributed computations on otherwise prohibitively large volumes of data/parameters, thereby alleviating or even eliminating the curse of dimensionality. The usefulness of this concept is illustrated over a number of applied areas, including generalized regression and classification (support tensor machines, canonical correlation analysis, higher order partial least squares), generalized eigenvalue decomposition, Riemannian optimization, and in the optimization of deep neural networks. Part 1 and Part 2 of this work can be used either as stand-alone separate texts, or indeed as a conjoint comprehensive review of the exciting field of low-rank tensor networks and tensor decompositions.Comment: 232 page

Tensor Networks for Dimensionality Reduction and Large-Scale Optimizations. Part 2 Applications and Future Perspectives

Part 2 of this monograph builds on the introduction to tensor networks and their operations presented in Part 1. It focuses on tensor network models for super-compressed higher-order representation of data/parameters and related cost functions, while providing an outline of their applications in machine learning and data analytics. A particular emphasis is on the tensor train (TT) and Hierarchical Tucker (HT) decompositions, and their physically meaningful interpretations which reflect the scalability of the tensor network approach. Through a graphical approach, we also elucidate how, by virtue of the underlying low-rank tensor approximations and sophisticated contractions of core tensors, tensor networks have the ability to perform distributed computations on otherwise prohibitively large volumes of data/parameters, thereby alleviating or even eliminating the curse of dimensionality. The usefulness of this concept is illustrated over a number of applied areas, including generalized regression and classification (support tensor machines, canonical correlation analysis, higher order partial least squares), generalized eigenvalue decomposition, Riemannian optimization, and in the optimization of deep neural networks. Part 1 and Part 2 of this work can be used either as stand-alone separate texts, or indeed as a conjoint comprehensive review of the exciting field of low-rank tensor networks and tensor decompositions.Comment: 232 page

Deep Learning in EEG: Advance of the Last Ten-Year Critical Period

Deep learning has achieved excellent performance in a wide range of domains, especially in speech recognition and computer vision. Relatively less work has been done for EEG, but there is still significant progress attained in the last decade. Due to the lack of a comprehensive and topic widely covered survey for deep learning in EEG, we attempt to summarize recent progress to provide an overview, as well as perspectives for future developments. We first briefly mention the artifacts removal for EEG signal and then introduce deep learning models that have been utilized in EEG processing and classification. Subsequently, the applications of deep learning in EEG are reviewed by categorizing them into groups such as brain-computer interface, disease detection, and emotion recognition. They are followed by the discussion, in which the pros and cons of deep learning are presented and future directions and challenges for deep learning in EEG are proposed. We hope that this paper could serve as a summary of past work for deep learning in EEG and the beginning of further developments and achievements of EEG studies based on deep learning