17,717 research outputs found
Fast, Robust, and Versatile Event Detection through HMM Belief State Gradient Measures
Event detection is a critical feature in data-driven systems as it assists
with the identification of nominal and anomalous behavior. Event detection is
increasingly relevant in robotics as robots operate with greater autonomy in
increasingly unstructured environments. In this work, we present an accurate,
robust, fast, and versatile measure for skill and anomaly identification. A
theoretical proof establishes the link between the derivative of the
log-likelihood of the HMM filtered belief state and the latest emission
probabilities. The key insight is the inverse relationship in which gradient
analysis is used for skill and anomaly identification. Our measure showed
better performance across all metrics than related state-of-the art works. The
result is broadly applicable to domains that use HMMs for event detection.Comment: 8 pages, 7 figures, double col, ieee conference forma
fMRI Investigation of Cortical and Subcortical Networks in the Learning of Abstract and Effector-Specific Representations of Motor Sequences
A visuomotor sequence can be learned as a series of visuo-spatial cues or as a sequence of effector movements. Earlier imaging studies have revealed that a network of brain areas is activated in the course of motor sequence learning. However these studies do not address the question of the type of representation being established at various stages of visuomotor sequence learning. In an earlier behavioral study, we demonstrated that acquisition of visuo-spatial sequence representation enables rapid learning in the early stage and progressive establishment of somato-motor representation helps speedier execution by the late stage. We conducted functional magnetic resonance imaging (fMRI) experiments wherein subjects learned and practiced the same sequence alternately in normal and rotated settings. In one rotated setting (visual), subjects learned a new motor sequence in response to an identical sequence of visual cues as in normal. In another rotated setting (motor), the display sequence was altered as compared to normal, but the same sequence of effector movements were used to perform the sequence. Comparison of different rotated settings revealed analogous transitions both in the cortical and subcortical sites during visuomotor sequence learning  a transition of activity from parietal to parietal-premotor and then to premotor cortex and a concomitant shift was observed from anterior putamen to a combined activity in both anterior and posterior putamen and finally to posterior putamen. These results suggest a putative role for engagement of different cortical and subcortical networks at various stages of learning in supporting distinct sequence representations
Robot Composite Learning and the Nunchaku Flipping Challenge
Advanced motor skills are essential for robots to physically coexist with
humans. Much research on robot dynamics and control has achieved success on
hyper robot motor capabilities, but mostly through heavily case-specific
engineering. Meanwhile, in terms of robot acquiring skills in a ubiquitous
manner, robot learning from human demonstration (LfD) has achieved great
progress, but still has limitations handling dynamic skills and compound
actions. In this paper, we present a composite learning scheme which goes
beyond LfD and integrates robot learning from human definition, demonstration,
and evaluation. The method tackles advanced motor skills that require dynamic
time-critical maneuver, complex contact control, and handling partly soft
partly rigid objects. We also introduce the "nunchaku flipping challenge", an
extreme test that puts hard requirements to all these three aspects. Continued
from our previous presentations, this paper introduces the latest update of the
composite learning scheme and the physical success of the nunchaku flipping
challenge
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