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47th International Symposium on robotics, ISR 2016

作者： Marino, Hamal Gabiccini, Marco Leonardis, Aleš Bicchi, Antonio DICI and Centro di Ricerca E. Piaggio University of Pisa Pisa56122 Italy Dept. of Advanced Robotics Istituto Italiano di Tecnologia Genova16163 Italy School of Computer Science and Centre for Computational Neuroscience and Cognitive Robotics University of Birmingham Edgbaston BirminghamB15 2TT United Kingdom

ISBN: (纸本)9783800742318

Humans tend to simplify the space of possible grasps they can perform. Yet, the description of human hand motions is very complex, and methods to reduce this complexity have attracted much attention in the motor control literature. Important implications in robot hand design and programming have also generated a wide interest in the robotics research community. Early studies prevalently used direct analysis methods such as visual inspection to define grasp taxonomies. More recently, analytical methods have been employed to perform grasping data dimensionality reduction. In this paper, we present a methodology to reconcile these two distinct and apparently incompatible approaches under a unified framework: this allows us to obtain a data-generated grasp taxonomy along with low-dimensional representations which could be used for human grasping data classification and posture reconstruction, as well as for simplifying grasp planning algorithms and robotic hands programming. © 2016 VDE VERLAG GMBH Berlin Offenbach.

关键词： Taxonomies

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26th Annual computational neuroscience Meeting (CNS*2017) of the Organization for computational neuroscience Antwerp, Belgium, July 15-20, 2017

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BMC neuroscience 2017年第SUPPL 1期18卷 59-59页

作者： [Anonymous] Indiana University Purdue University Indianapolis Indianapolis IN 46032 USA Stark Neurosciences Research Institute Indiana University School of Medicine Indianapolis IN 46032 USA Department of Mathematics East Carolina University Greenville NC 27858 USA Jülich Supercomputing Centre Forschungszentrum Jülich 52425 Jülich Germany Future Systems Swiss National Supercomputing Centre 8092 Zurich Switzerland User Engagement and Support Swiss National Supercomputing Centre 6900 Lugano Switzerland Institut de Neurosciences des Systèmes Aix Marseille Univ 13005 Marseille France Simulation Lab Neuroscience Forschungszentrum Jülich Jülich Germany Department of Experimental Psychology Ghent University 9000 Ghent Belgium Donders Center for Cognitive Neuroimaging Radboud University 6525HR Nijmegen The Netherlands Department of Electrical Computer and Energy Engineering University of Colorado Boulder CO 80309 USA Department of Neurosurgery Johns Hopkins School of Medicine Baltimore MD 21287 USA Department of Neurology Johns Hopkins School of Medicine Baltimore MD 21287 USA Department of Otolaryngology Johns Hopkins School of Medicine Baltimore MD 21287 USA INSERM U968 Paris France Sorbonne Universités UPMC University Paris 06 UMR_S 968 Institut de la Vision Paris France CNRS UMR_7210 Paris France Department of Computer Architecture and Technology University of Granada (CITIC) Granada Spain Sorbonne Universités UPMC Univ Paris 06 INSERM CNRS Institut de la Vision Paris France Department of Adaptive Machine Systems Osaka University Osaka Japan Department of Computer Science University of Cergy-Pontoise Cergy-Pontoise France Department of Physics and Astronomy College of Charleston Charleston SC 29424 USA School of Physics Faculty of Science University of Sydney Sydney NSW 2006 Australia Center of Excellence for Integrative Brain Function Australian Research Council Sydney Australia Max Planck Institute for Human Cognitive and Brain Sciences Saxony Lei

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26th Annual computational neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC neuroscience 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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25th Annual computational neuroscience Meeting CNS-2016, Seogwipo City, South Korea, July 2-7, 2016 Abstracts

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BMC neuroscience 2016年第1期17卷 1-112页

作者： [Anonymous] Computational Neurobiology Laboratory The Salk Institute for Biological Studies San Diego USA UNIC CNRS Gif sur Yvette France The European Institute for Theoretical Neuroscience (EITN) Paris France ATR Computational Neuroscience Laboratories Kyoto Japan Krembil Research Institute University Health Network Toronto Canada Department of Physiology University of Toronto Toronto Canada Department of Medicine (Neurology) University of Toronto Toronto Canada Department of Physics University of New Hampshire Durham USA Department of Neurophysiology Nencki Institute of Experimental Biology Warsaw Poland Department of Theory Wigner Research Centre for Physics of the Hungarian Academy of Sciences Budapest Hungary Department of Mathematical Sciences KAIST Daejoen Republic of Korea Department of Mathematics University of Houston Houston USA Department of Biochemistry & Cell Biology and Institute of Biosciences and Bioengineering Rice University Houston USA Department of Biology and Biochemistry University of Houston Houston USA Grupo de Neurocomputación Biológica Dpto. de Ingeniería Informática Escuela Politécnica Superior Universidad Autónoma de Madrid Madrid Spain Department of Biological Sciences University of Southern California Los Angeles USA Center for Neuroscience Korea Institute of Science and Technology Seoul South Korea Department of Neurology Albert Einstein College of Medicine Bronx USA Center for Neuroscience KIST Seoul South Korea Department of Neuroscience University of Science and Technology Daejon South Korea Systems Neuroscience Group QIMR Berghofer Medical Research Institute Herston Australia Department of Psychology Yonsei University Seoul South Korea Department of Psychiatry Kyung Hee University Hospital at Gangdong Seoul South Korea Department of Psychiatry Veterans Administration Boston Healthcare System and Harvard Medical School Brockton USA Department of Electrical and Electronic Engineering The University of Melbourne Parkvil

A1 Functional advantages of cell-type heterogeneity in neural circuits Tatyana O. Sharpee A2 Mesoscopic modeling of propagating waves in visual cortex Alain Destexhe A3 Dynamics and biomarkers of mental disorders Mitsuo Kawato F1 Precise recruitment of spiking output at theta frequencies requires dendritic h-channels in multi-compartment models of oriens-lacunosum/moleculare hippocampal interneurons Vladislav Sekulić, Frances K. Skinner F2 Kernel methods in reconstruction of current sources from extracellular potentials for single cells and the whole brains Daniel K. Wójcik, Chaitanya Chintaluri, Dorottya Cserpán, Zoltán Somogyvári F3 The synchronized periods depend on intracellular transcriptional repression mechanisms in circadian clocks. Jae Kyoung Kim, Zachary P. Kilpatrick, Matthew R. Bennett, Kresimir Josić O1 Assessing irregularity and coordination of spiking-bursting rhythms in central pattern generators Irene Elices, David Arroyo, Rafael Levi, Francisco B. Rodriguez, Pablo Varona O2 Regulation of top-down processing by cortically-projecting parvalbumin positive neurons in basal forebrain Eunjin Hwang, Bowon Kim, Hio-Been Han, Tae Kim, James T. McKenna, Ritchie E. Brown, Robert W. McCarley, Jee Hyun Choi O3 Modeling auditory stream segregation, build-up and bistability James Rankin, Pamela Osborn Popp, John Rinzel O4 Strong competition between tonotopic neural ensembles explains pitch-related dynamics of auditory cortex evoked fields Alejandro Tabas, André Rupp, Emili Balaguer-Ballester O5 A simple model of retinal response to multi-electrode stimulation Matias I. Maturana, David B. Grayden, Shaun L. Cloherty, Tatiana Kameneva, Michael R. Ibbotson, Hamish Meffin O6 Noise correlations in V4 area correlate with behavioral performance in visual discrimination task Veronika Koren, Timm Lochmann, Valentin Dragoi, Klaus Obermayer O7 Input-location dependent gain modulation in cerebellar nucleus neurons Maria Psarrou, Maria Schilstra, Neil Davey, Benjamin Torben-Ni

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26th Annual computational neuroscience Meeting (CNS*2017): Part 1

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BMC Neurosci 2017年第SUPPL 1期18卷 58-58页

作者： Sue Denham Panayiota Poirazi Erik De Schutter Karl Friston Ho Ka Chan Thomas Nowotny Dongqi Han Sungho Hong Sophie Rosay Tanja Wernle Alessandro Treves Sarah Goethals Romain Brette Tomas Van Pottelbergh Rodolphe Sepulchre Alex D. Bird Hermann Cuntz Pedro J. Gonçalves Jan-Matthis Lueckmann Giacomo Bassetto Marcel Nonnenmacher Jakob H. Macke Audrey J. Sederberg Jason N. MacLean Stephanie E. Palmer Ulisse Ferrari Christophe Gardella Olivier Marre Thierry Mora Emina Ibrahimovic Martin Müller Jean-Pascal Pfister Tushar Chauhan Timothée Masquelier Alexandre Montlibert Benoit R. Cottereau Moritz Helias Jannis Schuecker David Dahmen Sven Goedeke Alexandre Hyafil Ainhoa Hermoso-Mendizabal Pavel E. Rueda-Orozco Santiago Jaramillo David Robbe Jaime de la Rocha Marie Rooy Fani Koukouli David DiGregorio Uwe Maskos Boris Gutkin Andrey Yu Verisokin Darya V. Verveyko Dmitry E. Postnov Willy Wong Omid Talakoub Robert Chen Milos Popovic Dmitriy Lisitsyn Eric Drebitz Iris Grothe Sunita Mandon Andreas Kreiter Udo Ernst Peter A. Robinson Xuelong Zhao Kevin M. Aquino John D. Griffiths Grishma Mehta-Pandejee Natasha Gabay James MacLaurin Somwrita Sarkar Tim Kunze Jens Haueisen Thomas R. Knösche Subutai Ahmad Yuwei Cui Marcus Lewis Jeff Hawkins Simona Olmi Spase Petkoski Fabrice Bartolomei Maxime Guye Viktor Jirsa Hazem Toutounji Daniel Durstewitz Matteo Cantarelli Adrian Quintana Boris Marin Matt Earnshaw Padraig Gleeson Robert Court Robert McDougal R. Angus Silver Salvador Dura-Bernal Stephen Larson William W. Lytton Giovanni Idili Lorenzo Posani Simona Cocco Karel Ježek Rémi Monasson School of Psychology Faculty of Health & Human Sciences Plymouth University Plymouth Devon PL4 8AA UK Institute of Molecular Biology and Biotechnology (IMBB) Foundation for Research and Technology-Hellas (FORTH) Heraklion Crete Greece Okinawa Institute of Science and Technology Graduate University Okinawa Japan Wellcome Trust Centre for Neuroimaging Institute of Neurology UCL London WC1N 3BG UK School of Engineering and Informatics University of Sussex Brighton BN1 9QJ UK Graduate School Okinawa Institute of Science and Technology Okinawa 904-0495 Japan Computational Neuroscience Unit Okinawa Institute of Science and Technology Okinawa 904-0495 Japan Cognitive Neuroscience Area Scuola Internazionale Superiore di Studi Avanzati Trieste 34136 Italy Kavli Institute for Systems Neuroscience NTNU Trondheim 7030 Norway Institut de la Vision Sorbonne Universités UPMC Univ Paris 06 INSERM CNRS Paris 75012 France Department of Engineering University of Cambridge Cambridge Cambridgeshire CB2 1PZ UK Ernst Strüngmann Institute for Neuroscience Max Planck Society Frankfurt Germany Frankfurt Institute for Advanced Studies Frankfurt Germany Neural Systems Analysis Research Center Caesar An Associate of the Max Planck Society Bonn Germany Max Planck Institute for Biological Cybernetics Tübingen Germany Bernstein Center for Computational Neuroscience Tübingen Germany Present Address: Biomedical Engineering Department Georgia Institute of Technology Atlanta GA 30306 USA Department of Neurobiology University of Chicago Chicago IL 60637 USA Department of Organismal Biology and Anatomy University of Chicago Chicago IL 60637 USA Committee on Computational Neuroscience University of Chicago Chicago IL 60637 USA Institut de la Vision Sorbonne Universités INSERM Paris France Laboratoire de Physique Statistique Ecole Normale Supérieure Paris France Institute of Molecular Life Sciences University of Zürich 8057 Zürich Switzerland Institute of Neuroinformatics Univer

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A compositional hierarchical model for music information retrieval 15

A compositional hierarchical model for music information ret...

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15th International Society for Music Information Retrieval Conference, ISMIR 2014

作者： Pesek, Matevž Leonardis, Aleš Marolt, Matija University of Ljubljana Faculty of computer and information science Slovenia Centre for Computational Neuroscience and Cognitive Robotics School of Computer Science University of Birmingham United Kingdom

This paper presents a biologically-inspired compositional hierarchical model for MIR. The model can be treated as a deep learning model, and poses an alternative to deep architectures based on neural networks. Its main features are generativeness and transparency that allow clear insight into concepts learned from the input music signals. The model consists of multiple layers, each is composed of a number of parts. The hierarchical nature of the model corresponds well with the hierarchical structures in music. Parts in lower layers correspond to low-level concepts (e.g. tone partials), while parts in higher layers combine lower-level representations into more complex concepts (tones, chords). The layers are unsupervisedly learned one-by-one from music signals. Parts in each layer are compositions of parts from previous layers based on statistical co-occurrences as the driving force of the learning process. We present the model’s structure and compare it to other deep architectures. A preliminary evaluation of the model’s usefulness for automated chord estimation and multiple fundamental frequency estimation tasks is provided. Additionally, we show how the model can be extended to event-based music processing, which is our final goal. © Matevž Pesek, Aleš Leonardis, Matija Marolt.

关键词： Music

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2015 Brainhack Proceedings Abstracts

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GIGAscience 2016年第1期5卷 1-26页

作者： [Anonymous] Computational Neuroimaging Lab Center for Biomedical Imaging and Neuromodulation Nathan Kline Institute for Psychiatric Research Orangeburg USA Center for the Developing Brain Child Mind Institute New York USA Centre de Recherche Institut Universitaire de Gériatrie de Montréal Montréal Canada Department of computer science and operational research University of Montreal Montreal Canada Max Planck Research Group for Neuroanatomy & Connectivity Max Planck Institute for Human Cognitive and Brain Sciences Leipzig Germany SRI International Menlo Park USA Department of Psychiatry and Behavioral Sciences Stanford University Stanford USA Functional Imaging Unit Center for Diagnostic Radiology Unviersity Medicine Greifswald Greifswald Germany Université de Montréal Montréal Canada University of Massachusetts Medical School Worcester USA University of California Berkeley USA Institut Pasteur Paris France University of California San Diego La Jolla USA University of Washington Seattle USA Poldrack Lab Department of Psychology Stanford University Stanford USA Montréal Neurological Institute McGill University and Institute of Pscychology Montréal Canada Douglas Mental Health Institute Montréal Canada Otto-von-Guericke University Magdeburg Germany Montreal Neurological Institute McGill University Montreal Canada University of Hawaii John A. Burns School of Medicine Honolulu USA Oregon Health & Science University Portland USA University of Greifswald Greifswald Germany Duke Institute for Brain Sciences Durham USA Department of Psychology and Neuroscience University of Colorado Boulder USA Institute of Cognitive Neuroscience University College London London United Kingdom Section on Functional Imaging Methods Laboratory of Brain and Cognition National Institute of Mental Health Bethedsa USA City University of New York-Hunter College New York USA Monash Institute of Cognitive and Clinical Neurosciences Monash University Melbourne Australia McGill Centre fo

I1 Introduction to the 2015 Brainhack Proceedings R. Cameron Craddock, Pierre Bellec, Daniel S. Margules, B. Nolan Nichols, Jörg P. Pfannmöller A1 Distributed collaboration: the case for the enhancement of Brainspell’s interface AmanPreet Badhwar, David Kennedy, Jean-Baptiste Poline, Roberto Toro A2 Advancing open science through NiData Ben Cipollini, Ariel Rokem A3 Integrating the Brain Imaging Data Structure (BIDS) standard into C-PAC Daniel Clark, Krzysztof J. Gorgolewski, R. Cameron Craddock A4 Optimized implementations of voxel-wise degree centrality and local functional connectivity density mapping in AFNI R. Cameron Craddock, Daniel J. Clark A5 LORIS: DICOM anonymizer Samir Das, Cécile Madjar, Ayan Sengupta, Zia Mohades A6 Automatic extraction of academic collaborations in neuroimaging Sebastien Dery A7 NiftyView: a zero-footprint web application for viewing DICOM and NIfTI files Weiran Deng A8 Human Connectome Project Minimal Preprocessing Pipelines to Nipype Eric Earl, Damion V. Demeter, Kate Mills, Glad Mihai, Luka Ruzic, Nick Ketz, Andrew Reineberg, Marianne C. Reddan, Anne-Lise Goddings, Javier Gonzalez-Castillo, Krzysztof J. Gorgolewski A9 Generating music with resting-state fMRI data Caroline Froehlich, Gil Dekel, Daniel S. Margulies, R. Cameron Craddock A10 Highly comparable time-series analysis in Nitime Ben D. Fulcher A11 Nipype interfaces in CBRAIN Tristan Glatard, Samir Das, Reza Adalat, Natacha Beck, Rémi Bernard, Najmeh Khalili-Mahani, Pierre Rioux, Marc-Étienne Rousseau, Alan C. Evans A12 DueCredit: automated collection of citations for software, methods, and data Yaroslav O. Halchenko, Matteo Visconti di Oleggio Castello A13 Open source low-cost device to register dog’s heart rate and tail movement Raúl Hernández-Pérez, Edgar A. Morales, Laura V. Cuaya A14 Calculating the Laterality Index Using FSL for Stroke Neuroimaging Data Kaori L. Ito, Sook-Lei Liew A15 Wrapping FreeSurfer 6 for use in high-performance computing environments Hans J. Johns

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Sustainable computational science: The Rescience initiative

arXiv

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arXiv 2017年

作者： Rougier, Nicolas P. Hinsen, Konrad Alexandre, Frédéric Arildsen, Thomas Barba, Lorena Benureau, Fabien C.Y. Titus Brown, C. de Buyl, Pierre Caglayan, Ozan Davison, Andrew P. Delsuc, Marc André Detorakis, Georgios Diem, Alexandra K. Drix, Damien Enel, Pierre Girard, Benoît Guest, Olivia Hall, Matt G. Henriques, Rafael Neto Hinaut, Xavier Jaron, Kamil S. Khamassi, Mehdi Klein, Almar Manninen, Tiina Marchesi, Pietro McGlinn, Dan Metzner, Christoph Petchey, Owen L. Plesser, Hans Ekkehard Poisot, Timothée Ram, Karthik Ram, Yoav Roesch, Etienne Rossant, Cyrille Rostami, Vahid Shifman, Aaron Stimberg, Marcel Stachelek, Joseph Stollmeier, Frank Vaggi, Federico Viejo, Guillaume Vitay, Julien Vostinar, Anya Yurchak, Roman Zito, Tiziano INRIA Bordeaux Sud-Ouest Talence France Institut des Maladies Neurodégénératives Université de Bordeaux CNRS UMR 5293 Bordeaux France LaBRI Université de Bordeaux Bordeaux INP CNRS UMR 5800 Talence France Centre de Biophysique Moléculaire CNRS UPR4301 Orléans France Synchrotron SOLEIL Division Expériences Gif sur Yvette France Department of Electronic Systems Technical Faculty of IT and Design Aalborg University Denmark Department of Mechanical and Aerospace Engineering George Washington University WashingtonDC United States Department of Population Health and Reproduction University of California Davis DavisCA United States Instituut voor Theoretische Fysica KU Leuven Belgium Le Mans France Unité de Neurosciences Information et Complexité CNRS FRE 3693 Gif sur Yvette France Institut de Génétique et de Biologie Moléculaire et Cellulaire INSERM U964 CNRS UMR 7104 Université de Strasbourg Illkirch France Department of Cognitive Sciences University of California Irvine United States Computational Engineering and Design Faculty of Engineering and the Environment University of Southampton United Kingdom Department of Computer Science Humboldt-Universität zu Berlin Friedman Brain Institute Icahn School of Medicine Mount SinaiNY United States Institut des Systèmes Intelligent et de Robotique Sorbonne Universités UPMC Univ Paris 06 CNRS Paris France Experimental Psychology University College London United Kingdom UCL Great Ormond St Institute of Child Health University College London London United Kingdom MRC Cognition and Brain Sciences Unit Cambridge United Kingdom Department of Ecology and Evolution University of Lausanne Lausanne Switzerland Independent scholar Enschede Netherlands BioMediTech Institute and Faculty of Biomedical Sciences and Engineering Tampere University of Technology Tampere Finland Swammerdam Institute for Life Sciences Center for Neuroscience Faculty of Science University of Amsterdam Amsterdam Netherlands Depart

computer science offers a large set of tools for prototyping, writing, running, testing, validating, sharing and reproducing results, however computational science lags behind. In the best case, authors may provide their source code as a compressed archive and they may feel confident their research is reproducible. But this is not exactly true. Jonathan Buckheit and David Donoho proposed more than two decades ago that an article about computational results is advertising, not scholarship. The actual scholarship is the full software environment, code, and data that produced the result. This implies new workflows, in particular in peer-reviews. Existing journals have been slow to adapt: source codes are rarely requested, hardly ever actually executed to check that they produce the results advertised in the article. Rescience is a peer-reviewed journal that targets computational research and encourages the explicit replication of already published research, promoting new and open-source implementations in order to ensure that the original research can be replicated from its description. To achieve this goal, the whole publishing chain is radically different from other traditional scientific journals. Rescience resides on GitHub where each new implementation of a computational study is made available together with comments, explanations, and software tests. Copyright © 2017, The Authors. All rights reserved.

关键词： Open source software

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Boosting audio chord estimation using multiple classifiers

Boosting audio chord estimation using multiple classifiers

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International Conference on Systems, Signals and Image Processing, IWSSIP

作者： Matevž Pesek Aleš Leonardis Matija Marolt Faculty of Computer Information Science University of Ljubljana Slovenia Centre for Computational Neuroscience and Cognitive Robotics School of Computer Science University of Birmingham United Kingdom

The paper addresses the task of automatic audio chord estimation using stacked generalization of multiple classifiers over Hidden Markov model (HMM) estimators. We evaluated two feature types for chord estimation: a new compositional hierarchical model and standard chroma feature vectors. The compositional hierarchical model is presented as an alternative deep learning approach. Both feature types are further modelled with two separate Hidden Markov models (HMMs) in order to estimate chords in music recordings. Further, a binary decision tree and support vector machine are proposed binding the HMM estimations into a new feature vector. The additional stacking of the classifiers provides a classification boost by 17.55% with a binary decision tree and and 21.96% using the support vector machine.

关键词： Hidden Markov models Estimation Silicon carbide

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Learning compositional hierarchies of a sensorimotor system

Learning compositional hierarchies of a sensorimotor system

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12th International Symposium on Intelligent Data Analysis, IDA 2013

作者： Žabkar, Jure Leonardis, Aleš AI Lab. University of Ljubljana Faculty of Computer and Information Science Tržaška 25 SI-1000 Ljubljana Slovenia Intelligent Robotics Lab. School of Computer Science University of Birmingham United Kingdom Centre for Computational Neuroscience and Cognitive Robotics University of Birmingham United Kingdom

ISBN: (纸本)9783642413971

We address the problem of learning static spatial representation of a robot motor system and the environment to solve a general forward/inverse kinematics problem. The latter proves complex for high degree-of-freedom systems. The proposed architecture relates to a recent research in cognitive science, which provides a solid evidence that perception and action share common neural architectures. We propose to model both a motor system and an environment with compositional hierarchies and develop an algorithm for learning them together with a mapping between the two. We show that such a representation enables efficient learning and inference of robot states. We present our experiments in a simulated environment and with a humanoid robot Nao. © 2013 Springer-Verlag.

关键词： Anthropomorphic robots

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