We present a novel, reusable and task-agnostic primitive for assessing the outcome of a force-interaction robotic skill, useful e.g. for applications such as quality control in industrial manufacturing. The proposed method is easily programmed by kinesthetic teaching, and the desired adaptability and reusability are achieved by machine learning models. The primitive records sensory data during both demonstrations and reproductions of a movement. Recordings include the end-effector's Cartesian pose and exerted wrench at each time step. The collected data are then used to train Gaussian Processes which create models of the wrench as a function of the robot's pose. The similarity between the wrench models of the demonstration and the movement's reproduction is derived by measuring their Hellinger distance. This comparison creates features that are fed as inputs to a Naive Bayes classifier which estimates the movement's probability of success. The evaluation is performed on two diverse robotic assembly tasks -- snap-fitting and screwing -- with a total of 5 use cases, 11 demonstrations, and more than 200 movement executions. The performance metrics prove the proposed method's capability of generalization to different demonstrations and movements.
Haidu al @cite_13 segment the task in smaller pose trajectories and train a Hidden Markov Model (HMM) using each segment as a state. They identify promising states by aligning the segmented samples to the HMM, which contains key information for failure detection. A predictor is trained to assess the task from the aligned data at those promising states. Similarly, Di Lello al @cite_2 segment the wrench signatures by the control strategy of a finite state machine. Each wrench signal is treated as a Bayesian time-series model. A HMM is trained via a Bayesian non-parametric method to detect the deviation from the successful execution. Both of those two methods require the predefined segmentation of the trajectory. However, there is often no such clear segmentation such as Zero Velociy Crossing point @cite_15 or contact events that are plausible in human demonstrations.
@cite_15 @cite_13 @cite_2
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This paper proposes an effective segmentation-free approach using a hybrid neural network hidden Markov model (NN-HMM) for offline handwritten Chinese text recognition (HCTR). In the general Bayesian framework, the handwritten Chinese text line is sequentially modeled by HMMs with each representing one character class, while the NN-based classifier is adopted to calculate the posterior probability of all HMM states. The key issues in feature extraction, character modeling, and language modeling are comprehensively investigated to show the effectiveness of NN-HMM framework for offline HCTR. First, a conventional deep neural network (DNN) architecture is studied with a well-designed feature extractor. As for the training procedure, the label refinement using forced alignment and the sequence training can yield significant gains on top of the frame-level cross-entropy criterion. Second, a deep convolutional neural network (DCNN) with automatically learned discriminative features demonstrates its superiority to DNN in the HMM framework. Moreover, to solve the challenging problem of distinguishing quite confusing classes due to the large vocabulary of Chinese characters, NN-based classifier should output 19900 HMM states as the classification units via a high-resolution modeling within each character. On the ICDAR 2013 competition task of CASIA-HWDB database, DNN-HMM yields a promising character error rate (CER) of 5.24 by making a good trade-off between the computational complexity and recognition accuracy. To the best of our knowledge, DCNN-HMM can achieve a best published CER of 3.53 . Background Profile Hidden Markov Models (HMM) are statistical representations of protein families derived from patterns of sequence conservation in multiple alignments and have been used in identifying remote homologues with considerable success. These conservation patterns arise from fold specific signals, shared across multiple families, and function specific signals unique to the families. The availability of sequences pre-classified according to their function permits the use of negative training sequences to improve the specificity of the HMM, both by optimizing the threshold cutoff and by modifying emission probabilities to minimize the influence of fold-specific signals. A protocol to generate family specific HMMs is described that first constructs a profile HMM from an alignment of the family's sequences and then uses this model to identify sequences belonging to other classes that score above the default threshold (false positives). Ten-fold cross validation is used to optimise the discrimination threshold score for the model. The advent of fast multiple alignment methods enables the use of the profile alignments to align the true and false positive sequences, and the resulting alignments are used to modify the emission probabilities in the original model. In this paper, we propose an HMM trajectory-guided, real image sample concatenation approach to photo-realistic talking head synthesis. An audio-visual database of a person is recorded first for training a statistical Hidden Markov Model (HMM) of Lips movement. The HMM is then used to generate the dynamic trajectory of lips movement for given speech signals in the maximum probability sense. The generated trajectory is then used as a guide to select, from the original training database, an optimal sequence of lips images which are then stitched back to a background head video. We also propose a minimum generation error (MGE) training method to refine the audio-visual HMM to improve visual speech trajectory synthesis. Compared with the traditional maximum likelihood (ML) estimation, the proposed MGE training explicitly optimizes the quality of generated visual speech trajectory, where the audio-visual HMM modeling is jointly refined by using a heuristic method to find the optimal state alignment and a probabilistic descent algorithm to optimize the model parameters under the MGE criterion. In objective evaluation, compared with the ML-based method, the proposed MGE-based method achieves consistent improvement in the mean square error reduction, correlation increase, and recovery of global variance. For as short as 20 min recording of audio video footage, the proposed system can synthesize a highly photo-realistic talking head in sync with the given speech signals (natural or TTS synthesized). This system won the first place in the A V consistency contest in LIPS Challenge, perceptually evaluated by recruited human subjects. Hidden Markov modeling (HMM) techniques have been used successfully for connected speech recognition in the last several years. In the traditional HMM algorithms, the probability of duration of a state decreases exponentially with time which is not appropriate for representing the temporal structure of speech. Non-parametric modeling of duration using semi-Markov chains does accomplish the task with a large increase in the computational complexity. Applying a postprocessing state duration penalty after Viterbi decoding adds very little computation but does not affect the forward recognition path. The authors present a way of modeling state durations in HMM using time-dependent state transitions. This inhomogeneous HMM (IHMM) does increase the computation by a small amount but reduces recognition error rates by 14-25 . Also, a suboptimal implementation of this scheme that requires no more computation than the traditional HMM is presented which also has reduced errors by 14-22 on a variety of databases. > Hidden Markov models (HMMs) are a powerful probabilistic tool for modeling sequential data, and have been applied with success to many text-related tasks, such as part-of-speech tagging, text segmentation and information extraction. In these cases, the observations are usually modeled as multinomial distributions over a discrete vocabulary, and the HMM parameters are set to maximize the likelihood of the observations. This paper presents a new Markovian sequence model, closely related to HMMs, that allows observations to be represented as arbitrary overlapping features (such as word, capitalization, formatting, part-of-speech), and defines the conditional probability of state sequences given observation sequences. It does this by using the maximum entropy framework to fit a set of exponential models that represent the probability of a state given an observation and the previous state. We present positive experimental results on the segmentation of FAQ’s. This paper describes a Hidden Markov Model (HMM)-based method of automatic transcription of MIDI (Musical Instrument Digital Interface) signals of performed music. The problem is formulated as recognition of a given sequence of fluctuating note durations to find the most likely intended note sequence utilizing the modern continuous speech recognition technique. Combining a stochastic model of deviating note durations and a stochastic grammar representing possible sequences of notes, the maximum likelihood estimate of the note sequence is searched in terms of Viterbi algorithm. The same principle is successfully applied to a joint problem of bar line allocation, time measure recognition, and tempo estimation. Finally, durations of consecutive spl eta n notes are combined to form a "rhythm vector" representing tempo-free relative durations of the notes and treated in the same framework. Significant improvements compared with conventional "quantization" techniques are shown. This paper proposes a method for transcribing drums from polyphonic music using a network of connected hidden Markov models (HMMs). The task is to detect the temporal locations of unpitched percussive sounds (such as bass drum or hi-hat) and recognise the instruments played. Contrary to many earlier methods, a separate sound event segmentation is not done, but connected HMMs are used to perform the segmentation and recognition jointly. Two ways of using HMMs are studied: modelling combinations of the target drums and a detector-like modelling of each target drum. Acoustic feature parametrisation is done with mel-frequency cepstral coefficients and their first-order temporal derivatives. The effect of lowering the feature dimensionality with principal component analysis and linear discriminant analysis is evaluated. Unsupervised acoustic model parameter adaptation with maximum likelihood linear regression is evaluated for compensating the differences between the training and target signals. The performance of the proposed method is evaluated on a publicly available data set containing signals with and without accompaniment, and compared with two reference methods. The results suggest that the transcription is possible using connected HMMs, and that using detector-like models for each target drum provides a better performance than modelling drum combinations. This paper introduces two unsupervised learning methods for analyzing functional magnetic resonance imaging (fMRI) data based on hidden Markov model (HMM). HMM approach is focused on capturing the first-order statistical evolution among the samples of a voxel time series, and it can provide a complimentary perspective of the BOLD signals. Two-state HMM is created for each voxel, and the model parameters are estimated from the voxel time series and the stimulus paradigm. Two different activation detection methods are presented in this paper. The first method is based on the likelihood and likelihood-ratio test, in which an additional Gaussian model is used to enhance the contrast of the HMM likelihood map. The secondmethod is based on certain distance measures between the two state distributions, in which the most likely HMM state sequence is estimated through the Viterbi algorithm. The distance between the on-state and off-state distributions is measured either through a t-test, or using the Kullback-Leibler distance (KLD). Experimental results on both normal subject and brain tumor subject are presented. HMM approach appears to be more robust in detecting the supplemental active voxels comparing with SPM, especially for brain tumor subject. Dynamic Bayesian networks such as Hidden Markov Models (HMMs) are successfully used as probabilistic models for human motion. The use of hidden variables makes them expressive models, but inference is only approximate and requires procedures such as particle filters or Markov chain Monte Carlo methods. In this work we propose to instead use simple Markov models that only model observed quantities. We retain a highly expressive dynamic model by using interactions that are nonlinear and non-parametric. A presentation of our approach in terms of latent variables shows logarithmic growth for the computation of exact log-likelihoods in the number of latent states. We validate our model on human motion capture data and demonstrate state-of-the-art performance on action recognition and motion completion tasks. In the present paper, a trajectory model, derived from a hidden Markov model (HMM) by imposing explicit relationships between static and dynamic feature vector sequences, is developed and evaluated. The derived model, named a trajectory HMM, can alleviate two limitations of the standard HMM, which are (i) piece-wise constant statistics within a state and (ii) conditional independence assumption of state output probabilities, without increasing the number of model parameters. In the present paper, a Viterbi-type training algorithm based on the maximum likelihood criterion is also derived. The performance of the trajectory HMM was evaluated both in speech recognition and synthesis. In a speaker-dependent continuous speech recognition experiment, the trajectory HMM achieved an error reduction over the corresponding standard HMM. Subjective listening test results showed that the introduction of the trajectory HMM improved the naturalness of synthetic speech. In unsupervised classification, Hidden Markov Models (HMM) are used to account for a neighborhood structure between observations. The emission distributions are often supposed to belong to some parametric family. In this paper, a semiparametric model where the emission distributions are a mixture of parametric distributions is proposed to get a higher flexibility. We show that the standard EM algorithm can be adapted to infer the model parameters. For the initialization step, starting from a large number of components, a hierarchical method to combine them into the hidden states is proposed. Three likelihood-based criteria to select the components to be combined are discussed. To estimate the number of hidden states, BIC-like criteria are derived. A simulation study is carried out both to determine the best combination between the combining criteria and the model selection criteria and to evaluate the accuracy of classification. The proposed method is also illustrated using a biological dataset from the model plant Arabidopsis thaliana. A R package HMMmix is freely available on the CRAN. Hidden Markov models (HMMs) provide joint segmentation and classification of sequential data by efficient inference algorithms and have therefore been employed in fields as diverse as speech recognition, document processing, and genomics. However, conventional HMMs do not suit action segmentation in video due to the nature of the measurements which are often irregular in space and time, high dimensional and affected by outliers. For this reason, in this paper we present a joint action segmentation and classification approach based on an extended model: the hidden Markov model for multiple, irregular observations (HMM-MIO). Experiments performed over a concatenated version of the popular KTH action dataset and the challenging CMU multi-modal activity dataset (CMU-MMAC) report accuracies comparable to or higher than those of a bag-of-features approach, showing the usefulness of improved sequential models for joint action segmentation and classification tasks. We present a novel probabilistic method for topic segmentation on unstructured text. One previous approach to this problem utilizes the hidden Markov model (HMM) method for probabilistically modeling sequence data [7]. The HMM treats a document as mutually independent sets of words generated by a latent topic variable in a time series. We extend this idea by embedding Hofmann's aspect model for text [5] into the segmenting HMM to form an aspect HMM (AHMM). In doing so, we provide an intuitive topical dependency between words and a cohesive segmentation model. We apply this method to segment unbroken streams of New York Times articles as well as noisy transcripts of radio programs on SpeechBot , an online audio archive indexed by an automatic speech recognition engine. We provide experimental comparisons which show that the AHMM outperforms the HMM for this task. We consider the problem of autonomously bringing an article of clothing into a desired configuration using a general-purpose two-armed robot. We propose a hidden Markov model (HMM) for estimating the identity of the article and tracking the article's configuration throughout a specific sequence of manipulations and observations. At the end of this sequence, the article's configuration is known, though not necessarily desired. The estimated identity and configuration of the article are then used to plan a second sequence of manipulations that brings the article into the desired configuration. We propose a relaxation of a strain-limiting finite element model for cloth simulation that can be solved via convex optimization; this serves as the basis of the transition and observation models of the HMM. The observation model uses simple perceptual cues consisting of the height of the article when held by a single gripper and the silhouette of the article when held by two grippers. The model accurately estimates the identity and configuration of clothing articles, enabling our procedure to autonomously bring a variety of articles into desired configurations that are useful for other tasks, such as folding. Obtaining accurate hidden Markov model (HMM) state sequences is a research challenge to warrant good system performance in particle filter (PF) compensation for noisy speech recognition. Instead of using specific knowledge at the model and state levels which is hard to estimate, we pool model states into clusters as side information. Since each cluster encompasses more statistics when compared to the original HMM states, there is a higher possibility that the newly formed probability density function at the cluster level can cover the underlying speech variation to generate appropriate PF samples for feature compensation. Testing the proposed PF-based compensation scheme on the Aurora 2 connected digit recognition task, we achieve an error reduction of 12.15 from the best multi-condition trained models using this integrated PF-HMM framework to estimate the cluster-based HMM state sequence information. Hidden Markov models (HMMs) have proven to be one of the most widely used tools for learning probabilistic models of time series data. In an HMM, information about the past is conveyed through a single discrete variable—the hidden state. We discuss a generalization of HMMs in which this state is factored into multiple state variables and is therefore represented in a distributed manner. We describe an exact algorithm for inferring the posterior probabilities of the hidden state variables given the observations, and relate it to the forward–backward algorithm for HMMs and to algorithms for more general graphical models. Due to the combinatorial nature of the hidden state representation, this exact algorithm is intractable. As in other intractable systems, approximate inference can be carried out using Gibbs sampling or variational methods. Within the variational framework, we present a structured approximation in which the the state variables are decoupled, yielding a tractable algorithm for learning the parameters of the model. Empirical comparisons suggest that these approximations are efficient and provide accurate alternatives to the exact methods. Finally, we use the structured approximation to model Bach‘s chorales and show that factorial HMMs can capture statistical structure in this data set which an unconstrained HMM cannot. We present algorithms for coupling and training hidden Markov models (HMMs) to model interacting processes, and demonstrate their superiority to conventional HMMs in a vision task classifying two-handed actions. HMMs are perhaps the most successful framework in perceptual computing for modeling and classifying dynamic behaviors, popular because they offer dynamic time warping, a training algorithm and a clear Bayesian semantics. However the Markovian framework makes strong restrictive assumptions about the system generating the signal-that it is a single process having a small number of states and an extremely limited state memory. The single-process model is often inappropriate for vision (and speech) applications, resulting in low ceilings on model performance. Coupled HMMs provide an efficient way to resolve many of these problems, and offer superior training speeds, model likelihoods, and robustness to initial conditions. In this paper, we deal with imitation learning of arm movements in humanoid robots. Hidden Markov Models (HMM) are used to generalize movements demonstrated to a robot multiple times. They are trained with the characteristic features (key points) of each demonstration. Using the same HMM, key points that are common to all demonstrations are identified; only those are considered when reproducing a movement. We also show how HMM can be used to detect temporal dependencies between both arms in dual-arm tasks. We created a model of the human upper body to simulate the reproduction of dual-arm movements and generate natural-looking joint configurations from tracked hand paths. Results are presented and discussed. We present an audio chord recognition system based on a generalization of the Hidden Markov Model (HMM) in which the duration of chords is explicitly considered - a type of HMM referred to as a hidden semi-Markov model, or duration-explicit HMM (DHMM). We find that such a system recognizes chords at a level consistent with the state-of-the-art systems ‐ 84.23 on Uspop dataset at the major minor level. The duration distribution is estimated from chord duration histograms on the training data. It is found that the state-of-the-art recognition result can be improved upon by using several duration distributions, which are found automatically by clustering song-level duration histograms. The paper further describes experiments which shed light on the extent to which context information, in the sense of transition matrices, is useful for the audio chord recognition task. We present evidence that the context provides surprisingly little improvement in performance, compared to isolated frame-wise recognition with simple smoothing. We discuss possible reasons for this, such as the inherent entropy of chord sequences in our training database. In this work we address the problem of automatically detecting changes either induced by faults or concept drifts in data streams coming from multi-sensor units. The proposed methodology is based on the fact that the relationships among different sensor measurements follow a probabilistic pattern sequence when normal data, i.e. data which do not present a change, are observed. Differently, when a change in the process generating the data occurs the probabilistic pattern sequence is modified. The relationship between two generic data streams is modelled through a sequence of linear dynamic time-invariant models whose trained coefficients are used as features feeding a Hidden Markov Model (HMM) which, in turn, extracts the pattern structure. Change detection is achieved by thresholding the log-likelihood value associated with incoming new patterns, hence comparing the affinity between the structure of new acquisitions with that learned through the HMM. Experiments on both artificial and real data demonstrate the appreciable performance of the method both in terms of detection delay, false positive and false negative rates.