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The Journal of Machine Learning Research 2013年第1期14卷

作者： Kevin Murphy Bernhard Schölkopf Pinghua Gong Jieping Ye Changshui Zhang Google MPI for Intelligent Systems State Key Laboratory on Intelligent Technology and Systems Tsinghua National Laboratory for Information Science and Technology Department of Automation Tsinghua University Beijing China Computer Science and Engineering Center for Evolutionary Medicine and Informatics The Biodesign Institute Arizona State University Tempe AZ

Multi-task sparse feature learning aims to improve the generalization performance by exploiting the shared features among tasks. It has been successfully applied to many applications including computer vision and biomedical informatics. Most of the existing multi-task sparse feature learning algorithms are formulated as a convex sparse regularization problem, which is usually suboptimal, due to its looseness for approximating an l0-type regularizer. In this paper, we propose a non-convex formulation for multi-task sparse feature learning based on a novel nonconvex regularizer. To solve the non-convex optimization problem, we propose a Multi-Stage Multi-Task Feature Learning (MSMTFL) algorithm; we also provide intuitive interpretations, detailed convergence and reproducibility analysis for the proposed algorithm. Moreover, we present a detailed theoretical analysis showing that MSMTFL achieves a better parameter estimation error bound than the convex formulation. Empirical studies on both synthetic and real-world data sets demonstrate the effectiveness of MSMTFL in comparison with the state of the art multi-task sparse feature learning algorithms.

关键词： multi-stage multi-task learning non-convex sparse learning

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Bounding the search space for global optimization of neural networks learning error: an interval analysis approach

The Journal of Machine Learning Research

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The Journal of Machine Learning Research 2016年第1期17卷

作者： Kevin Murphy Bernhard Schölkopf Stavros P. Adam George D. Magoulas Dimitrios A. Karras Michael N. Vrahatis Google MPI for Intelligent Systems Computational Intelligence Laboratory Department of Mathematics University of Patras Patras Greece Department of Computer Science and Information Systems Birkbeck College University of London London UK Department of Automation Technological Educational Institute of Sterea Hellas Evia Greece

Training a multilayer perceptron (MLP) with algorithms employing global search strategies has been an important research direction in the field of neural networks. Despite a number of signifcant results, an important matter concerning the bounds of the search region| typically defined as a box--where a global optimization method has to search for a potential global minimizer seems to be unresolved. The approach presented in this paper builds on interval analysis and attempts to define guaranteed bounds in the search space prior to applying a global search algorithm for training an MLP. These bounds depend on the machine precision and the term "guaranteed" denotes that the region defined surely encloses weight sets that are global minimizers of the neural network's error function. Although the solution set to the bounding problem for an MLP is in general non-convex, the paper presents the theoretical results that help deriving a box which is a convex set. This box is an outer approximation of the algebraic solutions to the interval equations resulting from the function implemented by the network nodes. An experimental study using well known benchmarks is presented in accordance with the theoretical results.

关键词： algebraic solution bound constrained global optimization interval analysis interval linear equations neural network training

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Erratum to: A Robust Tracking System for Low Frame Rate Video

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International Journal of computer Vision 2015年第3期115卷 305-305页

作者： Xiaoqin Zhang Weiming Hu Nianhua Xie Hujun Bao Stephen Maybank Institute of Intelligent System and Decision Wenzhou University Zhejiang China National Laboratory of Pattern Recognition Institute of Automation Chinese Academy of Sciences Beijing China Department of Computer Science Zhejiang University Zhejiang China Department of Computer Science and Information Systems Birkbeck College London UK

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Foreword

Proceedings of the 2016 International Conference on Image Pr...

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Proceedings of the 2016 International Conference on Image Processing, computer Vision, and Pattern Recognition, IPCV 2016 2016年

作者： Abd-Wahab, Mohd Helmy Al-Bakry, Abbas Al-Holou, Nizar Arabnia, Hamid R. Bhattacharya, Mahua Martinez Castillo, Juan Jose Daimi, Kevin Deligiannidis, Leonidas Djoudi, Lamia Atma Duong, Trung Eshaghian-Wilner, Mary Mehrnoosh Gravvanis, George A. Huang, Ruizhu Jandieri, George Kim, Byung-Gyu Kim, Tai-hoon Korovin, Iakov Lai, Guoming Lee, Hyo Jong Bin Mansor, Muhammad Naufal Marsh, Andrew Mostafaeipour, Ali Park, James J. Patil, Shashikant Ponalagusamy, R. Schaefer, Gerald Singh, Akash Solo, Ashu M.G. Swee, Sim Kok Thomas, Jaya Tinetti, Fernando G. Vladimir, Hahanov Wang, Shiuh-Jeng Yang, Mary Yoe, Hyun You, Jane Zhao, Wenbing Department of Computer Engineering University Tun Hussein Onn Malaysia Malaysia University of IT and Communications Baghdad Iraq Electrical and Computer Engineering Department IEEE/SEM-Computer Chapter University of Detroit Mercy DetroitMI United States University of Georgia United States ABV Indian Institute of Information Technology and Management MHRD Government of India India Acantelys Alan Turing Nikola Tesla Research Group and GIPEB Universidad Nacional Abierta Venezuela Computer Science and Software Engineering Programs Department of Mathematics Computer Science and Software Engineering University of Detroit Mercy DetroitMI United States Department of Computer Information Systems Wentworth Institute of Technology BostonMA United States Synchrone Technologies France Rutgers University State University of New Jersey New Jersey United States University of Southern California California United States Electrical Engineering University of California Los Angeles Los Angeles [UCLA CA United States Advanced Scientific Computing Applied Math and Applications Research Group Applied Mathematics and Numerical Computing and Department of ECE School of Engineering Democritus University of Thrace Xanthi Greece Texas Advanced Computing Center University of Texas AustinTX United States Georgian Technical University Tbilisi Georgia Institute of Cybernetics Georgian Academy of Science Georgia Multimedia Processing CommunicationsLab.[MPCL Department of Computer Science and Engineering College of Engineering SunMoon University Korea Republic of School of Information and Computing Science University of Tasmania Australia Southern Federal University Russia Computer Science and Technology Sun Yat-Sen University Guangzhou China Center for Advanced Image and Information Technology Division of Computer Science and Engineering Chonbuk National University Korea Republic of Faculty of Engineering Technology Kampus Uniciti Alam Universiti Malaysia Perlis UniMAP Malaysi

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Bionic Soft Fingers with Hybrid Variable Stiffness Mechanisms for Multimode Grasping

Bionic Soft Fingers with Hybrid Variable Stiffness Mechanism...

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IEEE International Conference on Robotics and automation (ICRA)

作者： Xiangbo Wang Tianran Zhang Hongze Yu Zhenwei Wen Lide Fang Huaping Liu Fuchun Sun Lixue Tang Bin Fang College of Quality and Technical Supervision Hebei University Baoding China School of Artificial Intelligence Beijing University of Posts and Telecommunications Beijing China School of Mechanical Engineering & Automation Beihang University Beijing China International School Beijing University of Posts and Telecommunications Beijing China Department of Computer Science and Technology Beijing National Research Center for Information Science and Technology Institute for Artificial Intelligence State Key Lab of Intelligent Technology and Systems Tsinghua University Beijing China School of Biomedical Engineering Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application Capital Medical University Beijing China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper presents a novel Bionic Soft Finger (BSF) that aims to overcome the limitations of conventional rigid manipulators in terms of adaptability and safety, as well as the challenges faced by soft hands regarding carrying capacity and stability. The BSF design uses a hybrid variable stiffness mechanism combining memory alloy actuators with particle jamming to achieve the desired bending angle and actuator stiffness. Our innovative approach utilizes a bionic finger design that incorporates a memory alloy skeleton and a water-cooled recirculation system, leading to a substantial reduction in the time required for each operation. Through the integration of particle jamming, we have enhanced the overall stiffness and performance of the manipulator, enabling load capacities of up to 3N per finger and more than twice the stiffness of a normal condition. Additionally, our design enables multimode grasping and incorporates a liquid metal strain sensor (METT) for real-time monitoring of finger bending angles. Comparative analyses demonstrate that our design exhibits superior stiffness and enables five-mode grasping in comparison to pneumatic actuators. We believe that bionic soft fingers present a promising solution for enhancing adaptability, safety, and performance in human-robot interaction applications.

关键词： Metals Grasping Bending Manipulators Stability analysis Skeleton Real-time systems

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Spatio-Temporal Databases 1

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丛书名： Lecture Notes in computer science

1000年

作者： Timos K. Sellis Manolis Koubarakis Andrew Frank Stéphane Grumbach Ralf Hartmut Güting Christian Jensen Nikos A. Lorentzos Yannis Manolopoulos Enrico Nardelli Barbara Pernici Babis Theodoulidis Nectaria Tryfona Hans-Jörg Schek Michel O. Scholl

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Accelerating the Evolution of Personalized Automated Lane Change Through Lesson Learning

SSRN

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SSRN 2024年

作者： Hu, Jia Lei, Mingyue Li, Duo Li, Zhenning So, Jaehyun Wang, Haoran Key Laboratory of Road and Traffic Engineering Ministry of Education Institute for Advanced Study Tongji University 4800 Cao’an Road Shanghai China Key Laboratory of Road and Traffic Engineering Ministry of Education Tongji University 4800 Cao’an Road Shanghai China Department of Civil and Geospatial Engineering Newcastle University Newcastle upon TyneNE1 7RU United Kingdom State Key Laboratory of Internet of Things for Smart City Departments of Civil and Environmental Engineering and Computer and Information Science University of Macau Avenida da Universidade Taipa China Department of Transportation Systems Engineering Ajou University 206 World cup-ro Yeongtong-gu Gyeonggi-do Suwon-si16499 Korea Republic of State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Changsha410082 China

Personalization is crucial for the widespread adoption of advanced driver assistance system. To match up with each user's preference, the online evolution capability is a must. However, conventional evolution methods learn from naturalistic driving data, which requires a lot computing power and cannot be applied online. To address this challenge, this paper proposes a lesson learning approach: learning from driver's takeover interventions. By leveraging online takeover data, the driving zone is generated to ensure perceived safety using Gaussian discriminant analysis. Real-time corrections to trajectory planning rewards are enacted through apprenticeship learning. Guided by the objective of optimizing rewards within the constraints of the driving zone, this approach employs model predictive control for trajectory planning. This lesson learning framework is highlighted for its faster evolution capability, adeptness at experience accumulating, assurance of perceived safety, and computational efficiency. Simulation results demonstrate that the proposed system consistently achieves a successful customization without further takeover interventions. Accumulated experience yields a 24% enhancement in evolution efficiency. The average number of learning iterations is only 13.8. The average computation time is 0.08 seconds. © 2024, The Authors. All rights reserved.

关键词： Discriminant analysis

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Accelerating the Evolution of Personalized Automated Lane Change through Lesson Learning

arXiv

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arXiv 2024年

作者： Hu, Jia Lei, Mingyue Li, Duo Li, Zhenning So, Jaehyun Wang, Haoran Key Laboratory of Road and Traffic Engineering The Ministry of Education Institute for Advanced Study Tongji University 4800 Cao’an Road Shanghai China Key Laboratory of Road and Traffic Engineering The Ministry of Education Tongji University 4800 Cao’an Road Shanghai China Department of Civil and Geospatial Engineering Newcastle University Newcastle upon TyneNE1 7RU United Kingdom State Key Laboratory of Internet of Things for Smart City Departments of Civil and Environmental Engineering and Computer and Information Science University of Macau Avenida da Universidade Taipa China Department of Transportation Systems Engineering Ajou University 206 World cup-ro Yeongtong-gu Gyeonggi-do Suwon-si16499 Korea Republic of State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Changsha410082 China

关键词： Discriminant analysis

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CEBRA Method: Decoding Brain Activity for Advanced Brain-computer Interface Technology

CEBRA Method: Decoding Brain Activity for Advanced Brain-Com...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Jingcheng Yang Frank Kulwa Xuanwei Liu Yiqing Lu Yufa Fu Guanglin Li Yaping Huai Xin Zhang Yongcheng Li CAS Key Laboratory of Human-Machine Intelligence Synergy Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences (CAS) Shenzhen China Faculty of Information Engineering and Automation Kunming University of Science and Technology Kunming China Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Shenzhen China Shenzhen Dapeng New District Nanao People’s Hospital Shenzhen China Department of Rehabilitation Medicine Shenzhen Longhua District Central Hospital Shenzhen China Brain Cognition and Brain-Computer Intelligence Integration Group Kunming University of Science and Technology Kunming China Shandong Zhongke Advanced Technology Co. Ltd. Jinan China

ISBN: (数字)9798350371499

ISBN: (纸本)9798350371505

The emerging neurorehabilitation technology, Brain-computer Interface (BCI), provides a novel prospect for stroke recovery. However, decoding brain activity during the movement present substantial challenges, and feature extraction is crutial to build a better decoder. In this study the CEBRA method were employed to extract features first based on electroencephalogram(EEG) data during Motor Execution(ME) and Motor lmagery (Ml) tasks for 20 participants (including 10 stroke patients). The results revealed that, in MI tasks, CEBRA-RF (Random Forests) achieved an average classification accuracy of 91.33%, with an average F1-score of 91.19%, and CEBRA-SVM (Support Vector Machine) achieved an average classification accuracy of 91.32%, with an average F1-score of 90.83%. Compared to other conventional feature extraction methods, CEBRA shows significantly higher accuracy (t-test, p<0.01). However, in ME tasks, CEBRA-RF achieved an average classification accuracy of 75.67%, with an average F1-score of 75.39%, and CEBRA-SVM achieved an average classification accuracy of 76.13%, with an average F1-score of 75.80%. Nevertheless, no significant differences were observed compared to other feature extraction methods. These findings demonstrate the potential of CEBRA in decoding patients’ brain activity. The results of this study hold promise in addressing the current challenges of low decoding accuracy in BCI systems, offering a new approach for designing BCI-assisted rehabilitation systems for stroke patients.

关键词： Support vector machines Brain Accuracy Stroke (medical condition) Feature extraction Motors Brain-computer interfaces Neurorehabilitation Decoding Paralysis

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Motion Planning Integrated with Vehicle-Terrain Interactions for Off-Road Autonomous Ground Vehicles

Motion Planning Integrated with Vehicle-Terrain Interactions...

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International Conference on Intelligent Transportation

作者： Jianhua Yin Xianyuan Zhan Tianying Ji Bingrong Xu Yi He Daqing Zhang Lingxi Li Intelligent Transportation Systems Research Center Wuhan University of Technology Wuhan China Engineering Research Center of Transportation Information and Safety Ministry of Education Wuhan China Chongqing Research Institute Wuhan University of Technology Chongqing China Institute for AI Industry Research Tsinghua University Beijing China Shanghai Artificial Intelligence Laboratory Shanghai China Department of Computer Science and Technology Tsinghua University Beijing China School of Automation Wuhan University of Technology Wuhan China College of Mechanical and Electrical Engineering Hunan Agricultural University Changsha China Sunward Intelligent Equipment Co. Ltd. Changsha China Elmore Family School of Electrical and Computer Engineering College of Engineering Purdue University IN USA

ISBN: (数字)9798331505929

ISBN: (纸本)9798331505936

Off-road autonomous ground vehicles (AGVs) work in unstructured environments with varied elevation and deformable ground, where vehicle-terrain interactions are more complex resulting in unpredictable dynamics behavior. Current sensor-based hazards/obstacle identification methods mainly focus on geometric hazards/obstacles with explicit geometry, which might be adequate for vehicles in on-road conditions. However, in the off-road environment, vehicle-terrain interactions could introduce non-geometric hazards that cannot be detected by current geometric hazards-oriented sensing techniques, e.g. vehicle stuck in mud. To enable AGVs to traverse the target terrain and meet the goal while avoiding non-geometric hazards, this work proposes a motion planning method integrated with coupled vehicle-terrain dynamics response. Specifically, terramechanics-based modeling and simulation (M&S) is utilized to characterize vehicle-terrain interactions. Based on the dynamics response, a reinforcement learning (RL) algorithm with a specialized reward function is used to navigate the AGV to find the goal with high mobility and safety. We demonstrate the proposed method with two case studies, 1) high mobility is the foremost concern with less safety requirement, and 2) both high mobility and safety are required. The results show that the proposed motion planning method is effective for navigating the AGV in off-road terrains.

关键词： Dynamic response Geometry Navigation Heuristic algorithms Reinforcement learning Land vehicles Hazards Planning Sensors Vehicle dynamics

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