Differently from animals, robots can record its experience correctly for long time. We propose a novel algorithm that runs a particle filter on the time sequence of the experience. It can be applied to some teach-and-replay tasks. In a task, the trainer controls a robot, and the robot records its sensor readings and its actions. We name the sequence of the record an episode, which is derived from the episodic memory of animals. After that, the robot executes the particle filter so as to find a similar situation with the current one from the episode. If the robot chooses the action taken in the similar situation, it can replay the taught behavior. We name this algorithm the particle filter on episode (PFoE). The robot with PFoE shows not only a simple replay of a behavior but also recovery motion from skids and interruption. In this paper, we evaluate the properties of PFoE with a small mobile robot.
PFoE handles a decision making problem as a hidden Markov model (HMM). In an HMM @cite_7 @cite_1 , a finite number of states are defined, and state transitions of the system are hidden from an observer. Instead, the observer can receive a sequence of observations. Many algorithms on HMMs have been proposed for pattern recognition problems @cite_1 . Techniques for HMMs are also utilized for motion recognition or motion generation of robots @cite_16 @cite_24 . They have focused their attention on recognition of sequences of motion. To make a robot move in the real world with the recognition result, feedback control as researched in the above teach-and-replay methods will be required. In other research fields, combinations of an HMM model and a particle filter can be seen @cite_23 @cite_12 . Their purposes are also recognition.
@cite_7 @cite_1 @cite_24 @cite_23 @cite_16 @cite_12
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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. 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. > In this paper, the recognition of the visual focus of attention (VFOA) of meeting participants (as defined by their eye gaze direction) from their head pose is addressed. To this end, the head pose observations are modeled using an hidden Markov model (HMM) whose hidden states corresponds to the VFOA. The novelties are threefold. First, contrary to previous studies on the topic, in our set-up, the potential VFOA of a person is not restricted to other participants only, but includes environmental targets (a table and a projection screen), which increases the complexity of the task, with more VFOA targets spread in the pan and tilt (as well) gaze space. Second, the HMM parameters are set by exploiting results from the cognitive science on saccadic eye motion, which allows to predict what the head pose should be given an actual gaze target. Third, an unsupervised parameter adaptation step is proposed which accounts for the specific gazing behaviour of each participant. Using a publicly available corpus of 8 meetings featuring 4 persons, we analyze the above methods by evaluating, through objective performance measures, the recognition of the VFOA from head pose information obtained either using a magnetic sensor device or a vision based tracking system.