The Chemical Senses

Long-standing neglect of the chemical senses in the philosophy of perception is due, mostly, to their being regarded as ‘lower’ senses. Smell, taste, and chemically irritated touch are thought to produce mere bodily sensations. However, empirically informed theories of perception can show how these senses lead to perception of objective properties, and why they cannot be treated as special cases of perception modelled on vision. The senses of taste, touch, and smell also combine to create unified perceptions of flavour. The nature of these multimodal experiences and the character of our awareness of them puts pressure on the traditional idea that each episode of perception goes one or other of the five senses. Thus, the chemical senses, far from being peripheral to the concerns of the philosophy of perception, may hold important clues to the multisensory nature of perception in general

Comparing Sampling Strategies for Tackling Imbalanced Data in Human Activity Recognition

Human activity recognition (HAR) using wearable sensors is an increasingly active research topic in machine learning, aided in part by the ready availability of detailed motion capture data from smartphones, fitness trackers, and smartwatches. The goal of HAR is to use such devices to assist users in their daily lives in application areas such as healthcare, physical therapy, and fitness. One of the main challenges for HAR, particularly when using supervised learning methods, is obtaining balanced data for algorithm optimisation and testing. As people perform some activities more than others (e.g., walk more than run), HAR datasets are typically imbalanced. The lack of dataset representation from minority classes hinders the ability of HAR classifiers to sufficiently capture new instances of those activities. We introduce three novel hybrid sampling strategies to generate more diverse synthetic samples to overcome the class imbalance problem. The first strategy, which we call the distance-based method (DBM), combines Synthetic Minority Oversampling Techniques (SMOTE) with Random_SMOTE, both of which are built around the k-nearest neighbors (KNN). The second technique, referred to as the noise detection-based method (NDBM), combines SMOTE Tomek links (SMOTE_Tomeklinks) and the modified synthetic minority oversampling technique (MSMOTE). The third approach, which we call the cluster-based method (CBM), combines Cluster-Based Synthetic Oversampling (CBSO) and Proximity Weighted Synthetic Oversampling Technique (ProWSyn). We compare the performance of the proposed hybrid methods to the individual constituent methods and baseline using accelerometer data from three commonly used benchmark datasets. We show that DBM, NDBM, and CBM reduce the impact of class imbalance and enhance F1 scores by a range of 9–20 percentage point compared to their constituent sampling methods. CBM performs significantly better than the others under a Friedman test, however, DBM has lower computational requirements

Practical and Rich User Digitization

A long-standing vision in computer science has been to evolve computing devices into proactive assistants that enhance our productivity, health and wellness, and many other facets of our lives. User digitization is crucial in achieving this vision as it allows computers to intimately understand their users, capturing activity, pose, routine, and behavior. Today's consumer devices - like smartphones and smartwatches provide a glimpse of this potential, offering coarse digital representations of users with metrics such as step count, heart rate, and a handful of human activities like running and biking. Even these very low-dimensional representations are already bringing value to millions of people's lives, but there is significant potential for improvement. On the other end, professional, high-fidelity comprehensive user digitization systems exist. For example, motion capture suits and multi-camera rigs that digitize our full body and appearance, and scanning machines such as MRI capture our detailed anatomy. However, these carry significant user practicality burdens, such as financial, privacy, ergonomic, aesthetic, and instrumentation considerations, that preclude consumer use. In general, the higher the fidelity of capture, the lower the user's practicality. Most conventional approaches strike a balance between user practicality and digitization fidelity. My research aims to break this trend, developing sensing systems that increase user digitization fidelity to create new and powerful computing experiences while retaining or even improving user practicality and accessibility, allowing such technologies to have a societal impact. Armed with such knowledge, our future devices could offer longitudinal health tracking, more productive work environments, full body avatars in extended reality, and embodied telepresence experiences, to name just a few domains.Comment: PhD thesi

Multi-task Self-Supervised Learning for Human Activity Detection

Deep learning methods are successfully used in applications pertaining to ubiquitous computing, health, and well-being. Specifically, the area of human activity recognition (HAR) is primarily transformed by the convolutional and recurrent neural networks, thanks to their ability to learn semantic representations from raw input. However, to extract generalizable features, massive amounts of well-curated data are required, which is a notoriously challenging task; hindered by privacy issues, and annotation costs. Therefore, unsupervised representation learning is of prime importance to leverage the vast amount of unlabeled data produced by smart devices. In this work, we propose a novel self-supervised technique for feature learning from sensory data that does not require access to any form of semantic labels. We learn a multi-task temporal convolutional network to recognize transformations applied on an input signal. By exploiting these transformations, we demonstrate that simple auxiliary tasks of the binary classification result in a strong supervisory signal for extracting useful features for the downstream task. We extensively evaluate the proposed approach on several publicly available datasets for smartphone-based HAR in unsupervised, semi-supervised, and transfer learning settings. Our method achieves performance levels superior to or comparable with fully-supervised networks, and it performs significantly better than autoencoders. Notably, for the semi-supervised case, the self-supervised features substantially boost the detection rate by attaining a kappa score between 0.7-0.8 with only 10 labeled examples per class. We get similar impressive performance even if the features are transferred from a different data source. While this paper focuses on HAR as the application domain, the proposed technique is general and could be applied to a wide variety of problems in other areas

Incorporating Human Expertise in Robot Motion Learning and Synthesis

With the exponential growth of robotics and the fast development of their advanced cognitive and motor capabilities, one can start to envision humans and robots jointly working together in unstructured environments. Yet, for that to be possible, robots need to be programmed for such types of complex scenarios, which demands significant domain knowledge in robotics and control. One viable approach to enable robots to acquire skills in a more flexible and efficient way is by giving them the capabilities of autonomously learn from human demonstrations and expertise through interaction. Such framework helps to make the creation of skills in robots more social and less demanding on programing and robotics expertise. Yet, current imitation learning approaches suffer from significant limitations, mainly about the flexibility and efficiency for representing, learning and reasoning about motor tasks. This thesis addresses this problem by exploring cost-function-based approaches to learning robot motion control, perception and the interplay between them. To begin with, the thesis proposes an efficient probabilistic algorithm to learn an impedance controller to accommodate motion contacts. The learning algorithm is able to incorporate important domain constraints, e.g., about force representation and decomposition, which are nontrivial to handle by standard techniques. Compliant handwriting motions are developed on an articulated robot arm and a multi-fingered hand. This work provides a flexible approach to learn robot motion conforming to both task and domain constraints. Furthermore, the thesis also contributes with techniques to learn from and reason about demonstrations with partial observability. The proposed approach combines inverse optimal control and ensemble methods, yielding a tractable learning of cost functions with latent variables. Two task priors are further incorporated. The first human kinematics prior results in a model which synthesizes rich and believable dynamical handwriting. The latter prior enforces dynamics on the latent variable and facilitates a real-time human intention cognition and an on-line motion adaptation in collaborative robot tasks. Finally, the thesis establishes a link between control and perception modalities. This work offers an analysis that bridges inverse optimal control and deep generative model, as well as a novel algorithm that learns cost features and embeds the modal coupling prior. This work contributes an end-to-end system for synthesizing arm joint motion from letter image pixels. The results highlight its robustness against noisy and out-of-sample sensory inputs. Overall, the proposed approach endows robots the potential to reason about diverse unstructured data, which is nowadays pervasive but hard to process for current imitation learning

On discovering and learning structure under limited supervision

Les formes, les surfaces, les événements et les objets (vivants et non vivants) constituent le monde. L'intelligence des agents naturels, tels que les humains, va au-delà de la simple reconnaissance de formes. Nous excellons à construire des représentations et à distiller des connaissances pour comprendre et déduire la structure du monde. Spécifiquement, le développement de telles capacités de raisonnement peut se produire même avec une supervision limitée. D'autre part, malgré son développement phénoménal, les succès majeurs de l'apprentissage automatique, en particulier des modèles d'apprentissage profond, se situent principalement dans les tâches qui ont accès à de grands ensembles de données annotées. Dans cette thèse, nous proposons de nouvelles solutions pour aider à combler cette lacune en permettant aux modèles d'apprentissage automatique d'apprendre la structure et de permettre un raisonnement efficace en présence de tâches faiblement supervisés. Le thème récurrent de la thèse tente de s'articuler autour de la question « Comment un système perceptif peut-il apprendre à organiser des informations sensorielles en connaissances utiles sous une supervision limitée ? » Et il aborde les thèmes de la géométrie, de la composition et des associations dans quatre articles distincts avec des applications à la vision par ordinateur (CV) et à l'apprentissage par renforcement (RL). Notre première contribution ---Pix2Shape---présente une approche basée sur l'analyse par synthèse pour la perception. Pix2Shape exploite des modèles génératifs probabilistes pour apprendre des représentations 3D à partir d'images 2D uniques. Le formalisme qui en résulte nous offre une nouvelle façon de distiller l'information d'une scène ainsi qu'une représentation puissantes des images. Nous y parvenons en augmentant l'apprentissage profond non supervisé avec des biais inductifs basés sur la physique pour décomposer la structure causale des images en géométrie, orientation, pose, réflectance et éclairage. Notre deuxième contribution ---MILe--- aborde les problèmes d'ambiguïté dans les ensembles de données à label unique tels que ImageNet. Il est souvent inapproprié de décrire une image avec un seul label lorsqu'il est composé de plus d'un objet proéminent. Nous montrons que l'intégration d'idées issues de la littérature linguistique cognitive et l'imposition de biais inductifs appropriés aident à distiller de multiples descriptions possibles à l'aide d'ensembles de données aussi faiblement étiquetés. Ensuite, nous passons au paradigme d'apprentissage par renforcement, et considérons un agent interagissant avec son environnement sans signal de récompense. Notre troisième contribution ---HaC--- est une approche non supervisée basée sur la curiosité pour apprendre les associations entre les modalités visuelles et tactiles. Cela aide l'agent à explorer l'environnement de manière autonome et à utiliser davantage ses connaissances pour s'adapter aux tâches en aval. La supervision dense des récompenses n'est pas toujours disponible (ou n'est pas facile à concevoir), dans de tels cas, une exploration efficace est utile pour générer un comportement significatif de manière auto-supervisée. Pour notre contribution finale, nous abordons l'information limitée contenue dans les représentations obtenues par des agents RL non supervisés. Ceci peut avoir un effet néfaste sur la performance des agents lorsque leur perception est basée sur des images de haute dimension. Notre approche a base de modèles combine l'exploration et la planification sans récompense pour affiner efficacement les modèles pré-formés non supervisés, obtenant des résultats comparables à un agent entraîné spécifiquement sur ces tâches. Il s'agit d'une étape vers la création d'agents capables de généraliser rapidement à plusieurs tâches en utilisant uniquement des images comme perception.Shapes, surfaces, events, and objects (living and non-living) constitute the world. The intelligence of natural agents, such as humans is beyond pattern recognition. We excel at building representations and distilling knowledge to understand and infer the structure of the world. Critically, the development of such reasoning capabilities can occur even with limited supervision. On the other hand, despite its phenomenal development, the major successes of machine learning, in particular, deep learning models are primarily in tasks that have access to large annotated datasets. In this dissertation, we propose novel solutions to help address this gap by enabling machine learning models to learn the structure and enable effective reasoning in the presence of weakly supervised settings. The recurring theme of the thesis tries to revolve around the question of "How can a perceptual system learn to organize sensory information into useful knowledge under limited supervision?" And it discusses the themes of geometry, compositions, and associations in four separate articles with applications to computer vision (CV) and reinforcement learning (RL). Our first contribution ---Pix2Shape---presents an analysis-by-synthesis based approach(also referred to as inverse graphics) for perception. Pix2Shape leverages probabilistic generative models to learn 3D-aware representations from single 2D images. The resulting formalism allows us to perform a novel view synthesis of a scene and produce powerful representations of images. We achieve this by augmenting unsupervised learning with physically based inductive biases to decompose a scene structure into geometry, pose, reflectance and lighting. Our Second contribution ---MILe--- addresses the ambiguity issues in single-labeled datasets such as ImageNet. It is often inappropriate to describe an image with a single label when it is composed of more than one prominent object. We show that integrating ideas from Cognitive linguistic literature and imposing appropriate inductive biases helps in distilling multiple possible descriptions using such weakly labeled datasets. Next, moving into the RL setting, we consider an agent interacting with its environment without a reward signal. Our third Contribution ---HaC--- is a curiosity based unsupervised approach to learning associations between visual and tactile modalities. This aids the agent to explore the environment in an analogous self-guided fashion and further use this knowledge to adapt to downstream tasks. In the absence of reward supervision, intrinsic movitivation is useful to generate meaningful behavior in a self-supervised manner. In our final contribution, we address the representation learning bottleneck in unsupervised RL agents that has detrimental effect on the performance on high-dimensional pixel based inputs. Our model-based approach combines reward-free exploration and planning to efficiently fine-tune unsupervised pre-trained models, achieving comparable results to task-specific baselines. This is a step towards building agents that can generalize quickly on more than a single task using image inputs alone

Direct speech reconstruction from sensorimotor brain activity with optimized deep learning models

Objective.Development of brain-computer interface (BCI) technology is key for enabling communication in individuals who have lost the faculty of speech due to severe motor paralysis. A BCI control strategy that is gaining attention employs speech decoding from neural data. Recent studies have shown that a combination of direct neural recordings and advanced computational models can provide promising results. Understanding which decoding strategies deliver best and directly applicable results is crucial for advancing the field. Approach.In this paper, we optimized and validated a decoding approach based on speech reconstruction directly from high-density electrocorticography recordings from sensorimotor cortex during a speech production task. Main results.We show that (1) dedicated machine learning optimization of reconstruction models is key for achieving the best reconstruction performance; (2) individual word decoding in reconstructed speech achieves 92%-100% accuracy (chance level is 8%); (3) direct reconstruction from sensorimotor brain activity produces intelligible speech. Significance.These results underline the need for model optimization in achieving best speech decoding results and highlight the potential that reconstruction-based speech decoding from sensorimotor cortex can offer for development of next-generation BCI technology for communication