42,716 research outputs found
Motion Switching with Sensory and Instruction Signals by designing Dynamical Systems using Deep Neural Network
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
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
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
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Microtubule-dependent ribosome localization in C. elegans neurons.
Subcellular localization of ribosomes defines the location and capacity for protein synthesis. Methods for in vivo visualizing ribosomes in multicellular organisms are desirable in mechanistic investigations of the cell biology of ribosome dynamics. Here, we developed an approach using split GFP for tissue-specific visualization of ribosomes in Caenorhabditis elegans. Labeled ribosomes are detected as fluorescent puncta in the axons and synaptic terminals of specific neuron types, correlating with ribosome distribution at the ultrastructural level. We found that axonal ribosomes change localization during neuronal development and after axonal injury. By examining mutants affecting axonal trafficking and performing a forward genetic screen, we showed that the microtubule cytoskeleton and the JIP3 protein UNC-16 exert distinct effects on localization of axonal and somatic ribosomes. Our data demonstrate the utility of tissue-specific visualization of ribosomes in vivo, and provide insight into the mechanisms of active regulation of ribosome localization in neurons
Dynamic Influence Networks for Rule-based Models
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
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Collective intelligence for OER sustainability
To thrive, the Open Educational Resource (OER) movement, or a given initiative, must make sense of a complex, changing environment. Since “sustainability” is a desirable systemic capacity that our community should display, we consider a number of principles that sharpen the concept: resilience, sensemaking and complexity. We outline how these motivate the concept of collective intelligence (CI), we give examples of what OER-CI might look like, and we describe the emerging Cohere CI platform we are developing in response to these requirements
Complex Independent Component Analysis of Frequency-Domain Electroencephalographic Data
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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