42,716 research outputs found

    Motion Switching with Sensory and Instruction Signals by designing Dynamical Systems using Deep Neural Network

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    To ensure that a robot is able to accomplish an extensive range of tasks, it is necessary to achieve a flexible combination of multiple behaviors. This is because the design of task motions suited to each situation would become increasingly difficult as the number of situations and the types of tasks performed by them increase. To handle the switching and combination of multiple behaviors, we propose a method to design dynamical systems based on point attractors that accept (i) "instruction signals" for instruction-driven switching. We incorporate the (ii) "instruction phase" to form a point attractor and divide the target task into multiple subtasks. By forming an instruction phase that consists of point attractors, the model embeds a subtask in the form of trajectory dynamics that can be manipulated using sensory and instruction signals. Our model comprises two deep neural networks: a convolutional autoencoder and a multiple time-scale recurrent neural network. In this study, we apply the proposed method to manipulate soft materials. To evaluate our model, we design a cloth-folding task that consists of four subtasks and three patterns of instruction signals, which indicate the direction of motion. The results depict that the robot can perform the required task by combining subtasks based on sensory and instruction signals. And, our model determined the relations among these signals using its internal dynamics.Comment: 8 pages, 6 figures, accepted for publication in RA-L. An accompanied video is available at this https://youtu.be/a73KFtOOB5

    Flow-based Intrinsic Curiosity Module

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    In this paper, we focus on a prediction-based novelty estimation strategy upon the deep reinforcement learning (DRL) framework, and present a flow-based intrinsic curiosity module (FICM) to exploit the prediction errors from optical flow estimation as exploration bonuses. We propose the concept of leveraging motion features captured between consecutive observations to evaluate the novelty of observations in an environment. FICM encourages a DRL agent to explore observations with unfamiliar motion features, and requires only two consecutive frames to obtain sufficient information when estimating the novelty. We evaluate our method and compare it with a number of existing methods on multiple benchmark environments, including Atari games, Super Mario Bros., and ViZDoom. We demonstrate that FICM is favorable to tasks or environments featuring moving objects, which allow FICM to utilize the motion features between consecutive observations. We further ablatively analyze the encoding efficiency of FICM, and discuss its applicable domains comprehensively.Comment: The SOLE copyright holder is IJCAI (International Joint Conferences on Artificial Intelligence), all rights reserved. The link is provided as follows: https://www.ijcai.org/Proceedings/2020/28

    Visualizing dimensionality reduction of systems biology data

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    One of the challenges in analyzing high-dimensional expression data is the detection of important biological signals. A common approach is to apply a dimension reduction method, such as principal component analysis. Typically, after application of such a method the data is projected and visualized in the new coordinate system, using scatter plots or profile plots. These methods provide good results if the data have certain properties which become visible in the new coordinate system and which were hard to detect in the original coordinate system. Often however, the application of only one method does not suffice to capture all important signals. Therefore several methods addressing different aspects of the data need to be applied. We have developed a framework for linear and non-linear dimension reduction methods within our visual analytics pipeline SpRay. This includes measures that assist the interpretation of the factorization result. Different visualizations of these measures can be combined with functional annotations that support the interpretation of the results. We show an application to high-resolution time series microarray data in the antibiotic-producing organism Streptomyces coelicolor as well as to microarray data measuring expression of cells with normal karyotype and cells with trisomies of human chromosomes 13 and 21

    Dynamic Influence Networks for Rule-based Models

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    We introduce the Dynamic Influence Network (DIN), a novel visual analytics technique for representing and analyzing rule-based models of protein-protein interaction networks. Rule-based modeling has proved instrumental in developing biological models that are concise, comprehensible, easily extensible, and that mitigate the combinatorial complexity of multi-state and multi-component biological molecules. Our technique visualizes the dynamics of these rules as they evolve over time. Using the data produced by KaSim, an open source stochastic simulator of rule-based models written in the Kappa language, DINs provide a node-link diagram that represents the influence that each rule has on the other rules. That is, rather than representing individual biological components or types, we instead represent the rules about them (as nodes) and the current influence of these rules (as links). Using our interactive DIN-Viz software tool, researchers are able to query this dynamic network to find meaningful patterns about biological processes, and to identify salient aspects of complex rule-based models. To evaluate the effectiveness of our approach, we investigate a simulation of a circadian clock model that illustrates the oscillatory behavior of the KaiC protein phosphorylation cycle.Comment: Accepted to TVCG, in pres

    Complex Independent Component Analysis of Frequency-Domain Electroencephalographic Data

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    Independent component analysis (ICA) has proven useful for modeling brain and electroencephalographic (EEG) data. Here, we present a new, generalized method to better capture the dynamics of brain signals than previous ICA algorithms. We regard EEG sources as eliciting spatio-temporal activity patterns, corresponding to, e.g., trajectories of activation propagating across cortex. This leads to a model of convolutive signal superposition, in contrast with the commonly used instantaneous mixing model. In the frequency-domain, convolutive mixing is equivalent to multiplicative mixing of complex signal sources within distinct spectral bands. We decompose the recorded spectral-domain signals into independent components by a complex infomax ICA algorithm. First results from a visual attention EEG experiment exhibit (1) sources of spatio-temporal dynamics in the data, (2) links to subject behavior, (3) sources with a limited spectral extent, and (4) a higher degree of independence compared to sources derived by standard ICA.Comment: 21 pages, 11 figures. Added final journal reference, fixed minor typo
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