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2019


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Semi-supervised learning, causality, and the conditional cluster assumption

von Kügelgen, J., Mey, A., Loog, M., Schölkopf, B.

NeurIPS 2019 Workshop “Do the right thing”: machine learning and causal inference for improved decision making, December 2019 (poster) Accepted

ei

link (url) [BibTex]

2019


link (url) [BibTex]


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Optimal experimental design via Bayesian optimization: active causal structure learning for Gaussian process networks

von Kügelgen, J., Rubenstein, P., Schölkopf, B., Weller, A.

NeurIPS 2019 Workshop “Do the right thing”: machine learning and causal inference for improved decision making, December 2019 (poster) Accepted

ei

link (url) [BibTex]

link (url) [BibTex]


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Demo Abstract: Fast Feedback Control and Coordination with Mode Changes for Wireless Cyber-Physical Systems

(Best Demo Award)

Mager, F., Baumann, D., Jacob, R., Thiele, L., Trimpe, S., Zimmerling, M.

Proceedings of the 18th ACM/IEEE Conference on Information Processing in Sensor Networks (IPSN), pages: 340-341, 18th ACM/IEEE Conference on Information Processing in Sensor Networks (IPSN), April 2019 (poster)

ics

arXiv PDF DOI [BibTex]

arXiv PDF DOI [BibTex]


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Perception of temporal dependencies in autoregressive motion

Meding, K., Schölkopf, B., Wichmann, F. A.

European Conference on Visual Perception (ECVP), 2019 (poster)

ei

[BibTex]

[BibTex]


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Phenomenal Causality and Sensory Realism

Bruijns, S. A., Meding, K., Schölkopf, B., Wichmann, F. A.

European Conference on Visual Perception (ECVP), 2019 (poster)

ei

[BibTex]

[BibTex]

2008


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Variational Bayesian Model Selection in Linear Gaussian State-Space based Models

Chiappa, S.

International Workshop on Flexible Modelling: Smoothing and Robustness (FMSR 2008), 2008, pages: 1, November 2008 (poster)

ei

Web [BibTex]

2008


Web [BibTex]


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Towards the neural basis of the flash-lag effect

Ecker, A., Berens, P., Hoenselaar, A., Subramaniyan, M., Tolias, A., Bethge, M.

International Workshop on Aspects of Adaptive Cortex Dynamics, 2008, pages: 1, September 2008 (poster)

ei

PDF [BibTex]

PDF [BibTex]


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Policy Learning: A Unified Perspective With Applications In Robotics

Peters, J., Kober, J., Nguyen-Tuong, D.

8th European Workshop on Reinforcement Learning for Robotics (EWRL 2008), 8, pages: 10, July 2008 (poster)

Abstract
Policy Learning approaches are among the best suited methods for high-dimensional, continuous control systems such as anthropomorphic robot arms and humanoid robots. In this paper, we show two contributions: firstly, we show a unified perspective which allows us to derive several policy learning al- gorithms from a common point of view, i.e, policy gradient algorithms, natural- gradient algorithms and EM-like policy learning. Secondly, we present several applications to both robot motor primitive learning as well as to robot control in task space. Results both from simulation and several different real robots are shown.

ei

PDF [BibTex]

PDF [BibTex]


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Reinforcement Learning of Perceptual Coupling for Motor Primitives

Kober, J., Peters, J.

8th European Workshop on Reinforcement Learning for Robotics (EWRL 2008), 8, pages: 16, July 2008 (poster)

Abstract
Reinforcement learning is a natural choice for the learning of complex motor tasks by reward-related self-improvement. As the space of movements is high-dimensional and continuous, a policy parametrization is needed which can be used in this context. Traditional motor primitive approaches deal largely with open-loop policies which can only deal with small perturbations. In this paper, we present a new type of motor primitive policies which serve as closed-loop policies together with an appropriate learning algorithm. Our new motor primitives are an augmented version version of the dynamic systems motor primitives that incorporates perceptual coupling to external variables. We show that these motor primitives can perform complex tasks such a Ball-in-a-Cup or Kendama task even with large variances in the initial conditions where a human would hardly be able to learn this task. We initialize the open-loop policies by imitation learning and the perceptual coupling with a handcrafted solution. We first improve the open-loop policies and subsequently the perceptual coupling using a novel reinforcement learning method which is particularly well-suited for motor primitives.

ei

PDF [BibTex]

PDF [BibTex]


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Flexible Models for Population Spike Trains

Bethge, M., Macke, J., Berens, P., Ecker, A., Tolias, A.

AREADNE 2008: Research in Encoding and Decoding of Neural Ensembles, 2, pages: 52, June 2008 (poster)

ei

PDF [BibTex]

PDF [BibTex]


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Pairwise Correlations and Multineuronal Firing Patterns in the Primary Visual Cortex of the Awake, Behaving Macaque

Berens, P., Ecker, A., Subramaniyan, M., Macke, J., Hauck, P., Bethge, M., Tolias, A.

AREADNE 2008: Research in Encoding and Decoding of Neural Ensembles, 2, pages: 48, June 2008 (poster)

ei

PDF [BibTex]

PDF [BibTex]


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Visual saliency re-visited: Center-surround patterns emerge as optimal predictors for human fixation targets

Wichmann, F., Kienzle, W., Schölkopf, B., Franz, M.

Journal of Vision, 8(6):635, 8th Annual Meeting of the Vision Sciences Society (VSS), June 2008 (poster)

Abstract
Humans perceives the world by directing the center of gaze from one location to another via rapid eye movements, called saccades. In the period between saccades the direction of gaze is held fixed for a few hundred milliseconds (fixations). It is primarily during fixations that information enters the visual system. Remarkably, however, after only a few fixations we perceive a coherent, high-resolution scene despite the visual acuity of the eye quickly decreasing away from the center of gaze: This suggests an effective strategy for selecting saccade targets. Top-down effects, such as the observer's task, thoughts, or intentions have an effect on saccadic selection. Equally well known is that bottom-up effects-local image structure-influence saccade targeting regardless of top-down effects. However, the question of what the most salient visual features are is still under debate. Here we model the relationship between spatial intensity patterns in natural images and the response of the saccadic system using tools from machine learning. This allows us to identify the most salient image patterns that guide the bottom-up component of the saccadic selection system, which we refer to as perceptive fields. We show that center-surround patterns emerge as the optimal solution to the problem of predicting saccade targets. Using a novel nonlinear system identification technique we reduce our learned classifier to a one-layer feed-forward network which is surprisingly simple compared to previously suggested models assuming more complex computations such as multi-scale processing, oriented filters and lateral inhibition. Nevertheless, our model is equally predictive and generalizes better to novel image sets. Furthermore, our findings are consistent with neurophysiological hardware in the superior colliculus. Bottom-up visual saliency may thus not be computed cortically as has been thought previously.

ei

Web DOI [BibTex]

Web DOI [BibTex]


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Analysis of Pattern Recognition Methods in Classifying Bold Signals in Monkeys at 7-Tesla

Ku, S., Gretton, A., Macke, J., Tolias, A., Logothetis, N.

AREADNE 2008: Research in Encoding and Decoding of Neural Ensembles, 2, pages: 67, June 2008 (poster)

Abstract
Pattern recognition methods have shown that fMRI data can reveal significant information about brain activity. For example, in the debate of how object-categories are represented in the brain, multivariate analysis has been used to provide evidence of distributed encoding schemes. Many follow-up studies have employed different methods to analyze human fMRI data with varying degrees of success. In this study we compare four popular pattern recognition methods: correlation analysis, support-vector machines (SVM), linear discriminant analysis and Gaussian naïve Bayes (GNB), using data collected at high field (7T) with higher resolution than usual fMRI studies. We investigate prediction performance on single trials and for averages across varying numbers of stimulus presentations. The performance of the various algorithms depends on the nature of the brain activity being categorized: for several tasks, many of the methods work well, whereas for others, no methods perform above chance level. An important factor in overall classification performance is careful preprocessing of the data, including dimensionality reduction, voxel selection, and outlier elimination.

ei

[BibTex]

[BibTex]


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The role of stimulus correlations for population decoding in the retina

Schwartz, G., Macke, J., Berry, M.

Computational and Systems Neuroscience 2008 (COSYNE 2008), 5, pages: 172, March 2008 (poster)

ei

PDF Web [BibTex]

PDF Web [BibTex]

2004


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S-cones contribute to flicker brightness in human vision

Wehrhahn, C., Hill, NJ., Dillenburger, B.

34(174.12), 34th Annual Meeting of the Society for Neuroscience (Neuroscience), October 2004 (poster)

Abstract
In the retina of primates three cone types sensitive to short, middle and long wavelengths of light convert photons into electrical signals. Many investigators have presented evidence that, in color normal observers, the signals of cones sensitive to short wavelengths of light (S-cones) do not contribute to the perception of brightness of a colored surface when this is alternated with an achromatic reference (flicker brightness). Other studies indicate that humans do use S-cone signals when performing this task. Common to all these studies is the small number of observers, whose performance data are reported. Considerable variability in the occurrence of cone types across observers has been found, but, to our knowledge, no cone counts exist from larger populations of humans. We reinvestigated how much the S-cones contribute to flicker brightness. 76 color normal observers were tested in a simple psychophysical procedure neutral to the cone type occurence (Teufel & Wehrhahn (2000), JOSA A 17: 994 - 1006). The data show that, in the majority of our observers, S-cones provide input with a negative sign - relative to L- and M-cone contribution - in the task in question. There is indeed considerable between-subject variability such that for 20 out of 76 observers the magnitude of this input does not differ significantly from 0. Finally, we argue that the sign of S-cone contribution to flicker brightness perception by an observer cannot be used to infer the relative sign their contributions to the neuronal signals carrying the information leading to the perception of flicker brightness. We conclude that studies which use only a small number of observers may easily fail to find significant evidence for the small but significant population tendency for the S-cones to contribute to flicker brightness. Our results confirm all earlier results and reconcile their contradictory interpretations.

ei

Web [BibTex]

2004


Web [BibTex]


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Human Classification Behaviour Revisited by Machine Learning

Graf, A., Wichmann, F., Bülthoff, H., Schölkopf, B.

7, pages: 134, (Editors: Bülthoff, H.H., H.A. Mallot, R. Ulrich and F.A. Wichmann), 7th T{\"u}bingen Perception Conference (TWK), Febuary 2004 (poster)

Abstract
We attempt to understand visual classication in humans using both psychophysical and machine learning techniques. Frontal views of human faces were used for a gender classication task. Human subjects classied the faces and their gender judgment, reaction time (RT) and condence rating (CR) were recorded for each face. RTs are longer for incorrect answers than for correct ones, high CRs are correlated with low classication errors and RTs decrease as the CRs increase. This results suggest that patterns difcult to classify need more computation by the brain than patterns easy to classify. Hyperplane learning algorithms such as Support Vector Machines (SVM), Relevance Vector Machines (RVM), Prototype learners (Prot) and K-means learners (Kmean) were used on the same classication task using the Principal Components of the texture and oweld representation of the faces. The classication performance of the learning algorithms was estimated using the face database with the true gender of the faces as labels, and also with the gender estimated by the subjects. Kmean yield a classication performance close to humans while SVM and RVM are much better. This surprising behaviour may be due to the fact that humans are trained on real faces during their lifetime while they were here tested on articial ones, while the algorithms were trained and tested on the same set of stimuli. We then correlated the human responses to the distance of the stimuli to the separating hyperplane (SH) of the learning algorithms. On the whole stimuli far from the SH are classied more accurately, faster and with higher condence than those near to the SH if we pool data across all our subjects and stimuli. We also nd three noteworthy results. First, SVMs and RVMs can learn to classify faces using the subjects' labels but perform much better when using the true labels. Second, correlating the average response of humans (classication error, RT or CR) with the distance to the SH on a face-by-face basis using Spearman's rank correlation coefcients shows that RVMs recreate human performance most closely in every respect. Third, the mean-of-class prototype, its popularity in neuroscience notwithstanding, is the least human-like classier in all cases examined.

ei

Web [BibTex]

Web [BibTex]


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m-Alternative-Forced-Choice: Improving the Efficiency of the Method of Constant Stimuli

Jäkel, F., Hill, J., Wichmann, F.

7, pages: 118, 7th T{\"u}bingen Perception Conference (TWK), February 2004 (poster)

Abstract
We explored several ways to improve the efficiency of measuring psychometric functions without resorting to adaptive procedures. a) The number m of alternatives in an m-alternative-forced-choice (m-AFC) task improves the efficiency of the method of constant stimuli. b) When alternatives are presented simultaneously on different positions on a screen rather than sequentially time can be saved and memory load for the subject can be reduced. c) A touch-screen can further help to make the experimental procedure more intuitive. We tested these ideas in the measurement of contrast sensitivity and compared them to results obtained by sequential presentation in two-interval-forced-choice (2-IFC). Qualitatively all methods (m-AFC and 2-IFC) recovered the characterictic shape of the contrast sensitivity function in three subjects. The m-AFC paradigm only took about 60% of the time of the 2-IFC task. We tried m=2,4,8 and found 4-AFC to give the best model fits and 2-AFC to have the least bias.

ei

Web [BibTex]

Web [BibTex]


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Efficient Approximations for Support Vector Classifiers

Kienzle, W., Franz, M.

7, pages: 68, 7th T{\"u}bingen Perception Conference (TWK), February 2004 (poster)

Abstract
In face detection, support vector machines (SVM) and neural networks (NN) have been shown to outperform most other classication methods. While both approaches are learning-based, there are distinct advantages and drawbacks to each method: NNs are difcult to design and train but can lead to very small and efcient classiers. In comparison, SVM model selection and training is rather straightforward, and, more importantly, guaranteed to converge to a globally optimal (in the sense of training errors) solution. Unfortunately, SVM classiers tend to have large representations which are inappropriate for time-critical image processing applications. In this work, we examine various existing and new methods for simplifying support vector decision rules. Our goal is to obtain efcient classiers (as with NNs) while keeping the numerical and statistical advantages of SVMs. For a given SVM solution, we compute a cascade of approximations with increasing complexities. Each classier is tuned so that the detection rate is near 100%. At run-time, the rst (simplest) detector is evaluated on the whole image. Then, any subsequent classier is applied only to those positions that have been classied as positive throughout all previous stages. The false positive rate at the end equals that of the last (i.e. most complex) detector. In contrast, since many image positions are discarded by lower-complexity classiers, the average computation time per patch decreases signicantly compared to the time needed for evaluating the highest-complexity classier alone.

ei

Web [BibTex]

Web [BibTex]


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Selective Attention to Auditory Stimuli: A Brain-Computer Interface Paradigm

Hill, N., Lal, T., Schröder, M., Hinterberger, T., Birbaumer, N., Schölkopf, B.

7, pages: 102, (Editors: Bülthoff, H.H., H.A. Mallot, R. Ulrich and F.A. Wichmann), 7th T{\"u}bingen Perception Conference (TWK), February 2004 (poster)

Abstract
During the last 20 years several paradigms for Brain Computer Interfaces have been proposed— see [1] for a recent review. They can be divided into (a) stimulus-driven paradigms, using e.g. event-related potentials or visual evoked potentials from an EEG signal, and (b) patient-driven paradigms such as those that use premotor potentials correlated with imagined action, or slow cortical potentials (e.g. [2]). Our aim is to develop a stimulus-driven paradigm that is applicable in practice to patients. Due to the unreliability of visual perception in “locked-in” patients in the later stages of disorders such as Amyotrophic Lateral Sclerosis, we concentrate on the auditory modality. Speci- cally, we look for the effects, in the EEG signal, of selective attention to one of two concurrent auditory stimulus streams, exploiting the increased activation to attended stimuli that is seen under some circumstances [3]. We present the results of our preliminary experiments on normal subjects. On each of 400 trials, two repetitive stimuli (sequences of drum-beats or other pulsed stimuli) could be heard simultaneously. The two stimuli were distinguishable from one another by their acoustic properties, by their source location (one from a speaker to the left of the subject, the other from the right), and by their differing periodicities. A visual cue preceded the stimulus by 500 msec, indicating which of the two stimuli to attend to, and the subject was instructed to count the beats in the attended stimulus stream. There were up to 6 beats of each stimulus: with equal probability on each trial, all 6 were played, or the fourth was omitted, or the fth was omitted. The 40-channel EEG signals were analyzed ofine to reconstruct which of the streams was attended on each trial. A linear Support Vector Machine [4] was trained on a random subset of the data and tested on the remainder. Results are compared from two types of pre-processing of the signal: for each stimulus stream, (a) EEG signals at the stream's beat periodicity are emphasized, or (b) EEG signals following beats are contrasted with those following missing beats. Both forms of pre-processing show promising results, i.e. that selective attention to one or the other auditory stream yields signals that are classiable signicantly above chance performance. In particular, the second pre-processing was found to be robust to reduction in the number of features used for classication (cf. [5]), helping us to eliminate noise.

ei

PDF Web [BibTex]

PDF Web [BibTex]


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Texture and Haptic Cues in Slant Discrimination: Measuring the Effect of Texture Type

Rosas, P., Wichmann, F., Ernst, M., Wagemans, J.

7, pages: 165, (Editors: Bülthoff, H. H., H. A. Mallot, R. Ulrich, F. A. Wichmann), 7th T{\"u}bingen Perception Conference (TWK), February 2004 (poster)

Abstract
In a number of models of depth cue combination the depth percept is constructed via a weighted average combination of independent depth estimations. The inuence of each cue in such average depends on the reliability of the source of information [1,5]. In particular, Ernst and Banks (2002) formulate such combination as that of the minimum variance unbiased estimator that can be constructed from the available cues. We have observed systematic differences in slant discrimination performance of human observers when different types of textures were used as cue to slant [4]. If the depth percept behaves as described above, our measurements of the slopes of the psychometric functions provide the predicted weights for the texture cue for the ranked texture types. However, the results for slant discrimination obtained when combining these texture types with object motion results are difcult to reconcile with the minimum variance unbiased estimator model [3]. This apparent failure of such model might be explained by the existence of a coupling of texture and motion, violating the assumption of independence of cues. Hillis, Ernst, Banks, and Landy (2002) [2] have shown that while for between-modality combination the human visual system has access to the single-cue information, for withinmodality combination (visual cues) the single-cue information is lost. This suggests a coupling between visual cues and independence between visual and haptic cues. Then, in the present study we combined the different texture types with haptic information in a slant discrimination task, to test whether in the between-modality condition these cues are combined as predicted by an unbiased, minimum variance estimator model. The measured weights for the cues were consistent with a combination rule sensitive to the reliability of the sources of information, but did not match the predictions of a statistically optimal combination.

ei

PDF Web [BibTex]

PDF Web [BibTex]


no image
Efficient Approximations for Support Vector Classiers

Kienzle, W., Franz, M.

7, pages: 68, 7th T{\"u}bingen Perception Conference (TWK), February 2004 (poster)

Abstract
In face detection, support vector machines (SVM) and neural networks (NN) have been shown to outperform most other classication methods. While both approaches are learning-based, there are distinct advantages and drawbacks to each method: NNs are difcult to design and train but can lead to very small and efcient classiers. In comparison, SVM model selection and training is rather straightforward, and, more importantly, guaranteed to converge to a globally optimal (in the sense of training errors) solution. Unfortunately, SVM classiers tend to have large representations which are inappropriate for time-critical image processing applications. In this work, we examine various existing and new methods for simplifying support vector decision rules. Our goal is to obtain efcient classiers (as with NNs) while keeping the numerical and statistical advantages of SVMs. For a given SVM solution, we compute a cascade of approximations with increasing complexities. Each classier is tuned so that the detection rate is near 100%. At run-time, the rst (simplest) detector is evaluated on the whole image. Then, any subsequent classier is applied only to those positions that have been classied as positive throughout all previous stages. The false positive rate at the end equals that of the last (i.e. most complex) detector. In contrast, since many image positions are discarded by lower-complexity classiers, the average computation time per patch decreases signicantly compared to the time needed for evaluating the highest-complexity classier alone.

ei

Web [BibTex]

Web [BibTex]


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EEG Channel Selection for Brain Computer Interface Systems Based on Support Vector Methods

Schröder, M., Lal, T., Bogdan, M., Schölkopf, B.

7, pages: 50, (Editors: Bülthoff, H.H., H.A. Mallot, R. Ulrich and F.A. Wichmann), 7th T{\"u}bingen Perception Conference (TWK), February 2004 (poster)

Abstract
A Brain Computer Interface (BCI) system allows the direct interpretation of brain activity patterns (e.g. EEG signals) by a computer. Typical BCI applications comprise spelling aids or environmental control systems supporting paralyzed patients that have lost motor control completely. The design of an EEG based BCI system requires good answers for the problem of selecting useful features during the performance of a mental task as well as for the problem of classifying these features. For the special case of choosing appropriate EEG channels from several available channels, we propose the application of variants of the Support Vector Machine (SVM) for both problems. Although these algorithms do not rely on prior knowledge they can provide more accurate solutions than standard lter methods [1] for feature selection which usually incorporate prior knowledge about neural activity patterns during the performed mental tasks. For judging the importance of features we introduce a new relevance measure and apply it to EEG channels. Although we base the relevance measure for this purpose on the previously introduced algorithms, it does in general not depend on specic algorithms but can be derived using arbitrary combinations of feature selectors and classifiers.

ei

Web [BibTex]

Web [BibTex]


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Learning Depth

Sinz, F., Franz, MO.

pages: 69, (Editors: H.H.Bülthoff, H.A.Mallot, R.Ulrich,F.A.Wichmann), 7th T{\"u}bingen Perception Conference (TWK), February 2004 (poster)

Abstract
The depth of a point in space can be estimated by observing its image position from two different viewpoints. The classical approach to stereo vision calculates depth from the two projection equations which together form a stereocamera model. An unavoidable preparatory work for this solution is a calibration procedure, i.e., estimating the external (position and orientation) and internal (focal length, lens distortions etc.) parameters of each camera from a set of points with known spatial position and their corresponding image positions. This is normally done by iteratively linearizing the single camera models and reestimating their parameters according to the error on the known datapoints. The advantage of the classical method is the maximal usage of prior knowledge about the underlying physical processes and the explicit estimation of meaningful model parameters such as focal length or camera position in space. However, the approach neglects the nonlinear nature of the problem such that the results critically depend on the choice of the initial values for the parameters. In this study, we approach the depth estimation problem from a different point of view by applying generic machine learning algorithms to learn the mapping from image coordinates to spatial position. These algorithms do not require any domain knowledge and are able to learn nonlinear functions by mapping the inputs into a higher-dimensional space. Compared to classical calibration, machine learning methods give a direct solution to the depth estimation problem which means that the values of the stereocamera parameters cannot be extracted from the learned mapping. On the poster, we compare the performance of classical camera calibration to that of different machine learning algorithms such as kernel ridge regression, gaussian processes and support vector regression. Our results indicate that generic learning approaches can lead to higher depth accuracies than classical calibration although no domain knowledge is used.

ei

PDF Web [BibTex]

PDF Web [BibTex]


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Neural mechanisms underlying control of a Brain-Computer-Interface (BCI): Simultaneous recording of bold-response and EEG

Hinterberger, T., Wilhelm, B., Veit, R., Weiskopf, N., Lal, TN., Birbaumer, N.

2004 (poster)

Abstract
Brain computer interfaces (BCI) enable humans or animals to communicate or activate external devices without muscle activity using electric brain signals. The BCI Thought Translation Device (TTD) uses learned regulation of slow cortical potentials (SCPs), a skill most people and paralyzed patients can acquire with training periods of several hours up to months. The neurophysiological mechanisms and anatomical sources of SCPs and other event-related brain macro-potentials are well understood, but the neural mechanisms underlying learning of the self-regulation skill for BCI-use are unknown. To uncover the relevant areas of brain activation during regulation of SCPs, the TTD was combined with functional MRI and EEG was recorded inside the MRI scanner in twelve healthy participants who have learned to regulate their SCP with feedback and reinforcement. The results demonstrate activation of specific brain areas during execution of the brain regulation skill: successf! ul control of cortical positivity allowing a person to activate an external device was closely related to an increase of BOLD (blood oxygen level dependent) response in the basal ganglia and frontal premotor deactivation indicating learned regulation of a cortical-striatal loop responsible for local excitation thresholds of cortical assemblies. The data suggest that human users of a BCI learn the regulation of cortical excitation thresholds of large neuronal assemblies as a prerequisite of direct brain communication: the learning of this skill depends critically on an intact and flexible interaction between these cortico-basal ganglia-circuits. Supported by the Deutsche Forschungsgemeinschaft (DFG) and the National Institute of Health (NIH).

ei

[BibTex]

[BibTex]


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Masking by plaid patterns revisited

Wichmann, F.

Experimentelle Psychologie. Beitr{\"a}ge zur 46. Tagung experimentell arbeitender Psychologen, 46, pages: 285, 2004 (poster)

ei

[BibTex]

[BibTex]


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Early visual processing—data, theory, models

Wichmann, F.

Experimentelle Psychologie. Beitr{\"a}ge zur 46. Tagung experimentell arbeitender Psychologen, 46, pages: 24, 2004 (poster)

ei

[BibTex]

[BibTex]


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Implicit Wiener series for capturing higher-order interactions in images

Franz, M., Schölkopf, B.

Sensory coding and the natural environment, (Editors: Olshausen, B.A. and M. Lewicki), 2004 (poster)

Abstract
The information about the objects in an image is almost exclusively described by the higher-order interactions of its pixels. The Wiener series is one of the standard methods to systematically characterize these interactions. However, the classical estimation method of the Wiener expansion coefficients via cross-correlation suffers from severe problems that prevent its application to high-dimensional and strongly nonlinear signals such as images. We propose an estimation method based on regression in a reproducing kernel Hilbert space that overcomes these problems using polynomial kernels as known from Support Vector Machines and other kernel-based methods. Numerical experiments show performance advantages in terms of convergence, interpretability and system sizes that can be handled. By the time of the conference, we will be able to present first results on the higher-order structure of natural images.

ei

[BibTex]

[BibTex]


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Classification and Memory Behaviour of Man Revisited by Machine

Graf, A., Wichmann, F., Bülthoff, H., Schölkopf, B.

CSHL Meeting on Computational & Systems Neuroscience (COSYNE), 2004 (poster)

ei

[BibTex]

[BibTex]

2003


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Texture and haptic cues in slant discrimination: Measuring the effect of texture type on cue combination

Rosas, P., Wichmann, F., Ernst, M., Wagemans, J.

Journal of Vision, 3(12):26, 2003 Fall Vision Meeting of the Optical Society of America, December 2003 (poster)

Abstract
In a number of models of depth cue combination the depth percept is constructed via a weighted average combination of independent depth estimations. The influence of each cue in such average depends on the reliability of the source of information. (Young, Landy, & Maloney, 1993; Ernst & Banks, 2002.) In particular, Ernst & Banks (2002) formulate the combination performed by the human brain as that of the minimum variance unbiased estimator that can be constructed from the available cues. Using slant discrimination and slant judgment via probe adjustment as tasks, we have observed systematic differences in performance of human observers when a number of different types of textures were used as cue to slant (Rosas, Wichmann & Wagemans, 2003). If the depth percept behaves as described above, our measurements of the slopes of the psychometric functions provide the predicted weights for the texture cue for the ranked texture types. We have combined these texture types with object motion but the obtained results are difficult to reconcile with the unbiased minimum variance estimator model (Rosas & Wagemans, 2003). This apparent failure of such model might be explained by the existence of a coupling of texture and motion, violating the assumption of independence of cues. Hillis, Ernst, Banks, & Landy (2002) have shown that while for between-modality combination the human visual system has access to the single-cue information, for within-modality combination (visual cues: disparity and texture) the single-cue information is lost, suggesting a coupling between these cues. Then, in the present study we combine the different texture types with haptic information in a slant discrimination task, to test whether in the between-modality condition the texture cue and the haptic cue to slant are combined as predicted by an unbiased, minimum variance estimator model.

ei

Web DOI [BibTex]

2003


Web DOI [BibTex]


no image
Phase Information and the Recognition of Natural Images

Braun, D., Wichmann, F., Gegenfurtner, K.

6, pages: 138, (Editors: H.H. Bülthoff, K.R. Gegenfurtner, H.A. Mallot, R. Ulrich, F.A. Wichmann), 6. T{\"u}binger Wahrnehmungskonferenz (TWK), February 2003 (poster)

Abstract
Fourier phase plays an important role in determining image structure. For example, when the phase spectrum of an image showing a ower is swapped with the phase spectrum of an image showing a tank, then we will usually perceive a tank in the resulting image, even though the amplitude spectrum is still that of the ower. Also, when the phases of an image are randomly swapped across frequencies, the resulting image becomes impossible to recognize. Our goal was to evaluate the e ect of phase manipulations in a more quantitative manner. On each trial subjects viewed two images of natural scenes. The subject had to indicate which one of the two images contained an animal. The spectra of the images were manipulated by adding random phase noise at each frequency. The phase noise was uniformly distributed in the interval [;+], where  was varied between 0 degree and 180 degrees. Image pairs were displayed for 100 msec. Subjects were remarkably resistant to the addition of phase noise. Even with [120; 120] degree noise, subjects still were at a level of 75% correct. The introduction of phase noise leads to a reduction of image contrast. Subjects were slightly better than a simple prediction based on this contrast reduction. However, when contrast response functions were measured in the same experimental paradigm, we found that performance in the phase noise experiment was signi cantly lower than that predicted by the corresponding contrast reduction.

ei

Web [BibTex]

Web [BibTex]


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Constraints measures and reproduction of style in robot imitation learning

Bakir, GH., Ilg, W., Franz, MO., Giese, M.

6, pages: 70, (Editors: H.H. Bülthoff, K.R. Gegenfurtner, H.A. Mallot, R. Ulrich, F.A. Wichmann), 6. T{\"u}binger Wahrnehmungskonferenz (TWK), February 2003 (poster)

Abstract
Imitation learning is frequently discussed as a method for generating complex behaviors in robots by imitating human actors. The kinematic and the dynamic properties of humans and robots are typically quite di erent, however. For this reason observed human trajectories cannot be directly transferred to robots, even if their geometry is humanoid. Instead the human trajectory must be approximated by trajectories that can be realized by the robot. During this approximation deviations from the human trajectory may arise that change the style of the executed movement. Alternatively, the style of the movement might be well reproduced, but the imitated trajectory might be suboptimal with respect to di erent constraint measures from robotics control, leading to non-robust behavior. Goal of the presented work is to quantify this trade-o between \imitation quality" and constraint compatibility for the imitation of complex writing movements. In our experiment, we used trajectory data from human writing movements (see the abstract of Ilg et al. in this volume). The human trajectories were mapped onto robot trajectories by minimizing an error measure that integrates constraints that are important for the imitation of movement style and a regularizing constraint that ensures smooth joint trajectories with low velocities. In a rst experiment, both the end-e ector position and the shoulder angle of the robot were optimized in order to achieve good imitation together with accurate control of the end-e ector position. In a second experiment only the end-e ector trajectory was imitated whereas the motion of the elbow joint was determined using the optimal inverse kinematic solution for the robot. For both conditions di erent constraint measures (dexterity and relative jointlimit distances) and a measure for imitation quality were assessed. By controling the weight of the regularization term we can vary continuously between robot behavior optimizing imitation quality, and behavior minimizing joint velocities.

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PDF Web [BibTex]

PDF Web [BibTex]


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Study of Human Classification using Psychophysics and Machine Learning

Graf, A., Wichmann, F., Bülthoff, H., Schölkopf, B.

6, pages: 149, (Editors: H.H. Bülthoff, K.R. Gegenfurtner, H.A. Mallot, R. Ulrich, F.A. Wichmann), 6. T{\"u}binger Wahrnehmungskonferenz (TWK), Febuary 2003 (poster)

Abstract
We attempt to reach a better understanding of classi cation in humans using both psychophysical and machine learning techniques. In our psychophysical paradigm the stimuli presented to the human subjects are modi ed using machine learning algorithms according to their responses. Frontal views of human faces taken from a processed version of the MPI face database are employed for a gender classi cation task. The processing assures that all heads have same mean intensity, same pixel-surface area and are centered. This processing stage is followed by a smoothing of the database in order to eliminate, as much as possible, scanning artifacts. Principal Component Analysis is used to obtain a low-dimensional representation of the faces in the database. A subject is asked to classify the faces and experimental parameters such as class (i.e. female/male), con dence ratings and reaction times are recorded. A mean classi cation error of 14.5% is measured and, on average, 0.5 males are classi ed as females and 21.3females as males. The mean reaction time for the correctly classi ed faces is 1229 +- 252 [ms] whereas the incorrectly classi ed faces have a mean reaction time of 1769 +- 304 [ms] showing that the reaction times increase with the subject's classi- cation error. Reaction times are also shown to decrease with increasing con dence, both for the correct and incorrect classi cations. Classi cation errors, reaction times and con dence ratings are then correlated to concepts of machine learning such as separating hyperplane obtained when considering Support Vector Machines, Relevance Vector Machines, boosted Prototype and K-means Learners. Elements near the separating hyperplane are found to be classi ed with more errors than those away from it. In addition, the subject's con dence increases when moving away from the hyperplane. A preliminary analysis on the available small number of subjects indicates that K-means classi cation seems to re ect the subject's classi cation behavior best. The above learnersare then used to generate \special" elements, or representations, of the low-dimensional database according to the labels given by the subject. A memory experiment follows where the representations are shown together with faces seen or unseen during the classi cation experiment. This experiment aims to assess the representations by investigating whether some representations, or special elements, are classi ed as \seen before" despite that they never appeared in the classi cation experiment, possibly hinting at their use during human classi cation.

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PDF Web [BibTex]


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A Representation of Complex Movement Sequences Based on Hierarchical Spatio-Temporal Correspondence for Imitation Learning in Robotics

Ilg, W., Bakir, GH., Franz, MO., Giese, M.

6, pages: 74, (Editors: H.H. Bülthoff, K.R. Gegenfurtner, H.A. Mallot, R. Ulrich, F.A. Wichmann), 6. T{\"u}binger Wahrnehmungskonferenz (TWK), February 2003 (poster)

Abstract
Imitation learning of complex movements has become a popular topic in neuroscience, as well as in robotics. A number of conceptual as well as practical problems are still unsolved. One example is the determination of the aspects of movements which are relevant for imitation. Problems concerning the movement representation are twofold: (1) The movement characteristics of observed movements have to be transferred from the perceptual level to the level of generated actions. (2) Continuous spaces of movements with variable styles have to be approximated based on a limited number of learned example sequences. Therefore, one has to use representation with a high generalisation capability. We present methods for the representation of complex movement sequences that addresses these questions in the context of the imitation learning of writing movements using a robot arm with human-like geometry. For the transfer of complex movements from perception to action we exploit a learning-based method that represents complex action sequences by linear combination of prototypical examples (Ilg and Giese, BMCV 2002). The method of hierarchical spatio-temporal morphable models (HSTMM) decomposes action sequences automatically into movement primitives. These primitives are modeled by linear combinations of a small number of learned example trajectories. The learned spatio-temporal models are suitable for the analysis and synthesis of long action sequences, which consist of movement primitives with varying style parameters. The proposed method is illustrated by imitation learning of complex writing movements. Human trajectories were recorded using a commercial motion capture system (VICON). In the rst step the recorded writing sequences are decomposed into movement primitives. These movement primitives can be analyzed and changed in style by de ning linear combinations of prototypes with di erent linear weight combinations. Our system can imitate writing movements of di erent actors, synthesize new writing styles and can even exaggerate the writing movements of individual actors. Words and writing movements of the robot look very natural, and closely match the natural styles. These preliminary results makes the proposed method promising for further applications in learning-based robotics. In this poster we focus on the acquisition of the movement representation (identi cation and segmentation of movement primitives, generation of new writing styles by spatio-temporal morphing). The transfer of the generated writing movements to the robot considering the given kinematic and dynamic constraints is discussed in Bakir et al (this volume).

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PDF Web [BibTex]

PDF Web [BibTex]


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Models of contrast transfer as a function of presentation time and spatial frequency.

Wichmann, F.

2003 (poster)

Abstract
Understanding contrast transduction is essential for understanding spatial vision. Using standard 2AFC contrast discrimination experiments conducted using a carefully calibrated display we previously showed that the shape of the threshold versus (pedestal) contrast (TvC) curve changes with presentation time and the performance level defined as threshold (Wichmann, 1999; Wichmann & Henning, 1999). Additional experiments looked at the change of the TvC curve with spatial frequency (Bird, Henning & Wichmann, 2002), and at how to constrain the parameters of models of contrast processing (Wichmann, 2002). Here I report modelling results both across spatial frequency and presentation time. An extensive model-selection exploration was performed using Bayesian confidence regions for the fitted parameters as well as cross-validation methods. Bird, C.M., G.B. Henning and F.A. Wichmann (2002). Contrast discrimination with sinusoidal gratings of different spatial frequency. Journal of the Optical Society of America A, 19, 1267-1273. Wichmann, F.A. (1999). Some aspects of modelling human spatial vision: contrast discrimination. Unpublished doctoral dissertation, The University of Oxford. Wichmann, F.A. & Henning, G.B. (1999). Implications of the Pedestal Effect for Models of Contrast-Processing and Gain-Control. OSA Annual Meeting Program, 62. Wichmann, F.A. (2002). Modelling Contrast Transfer in Spatial Vision [Abstract]. Journal of Vision, 2, 7a.

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[BibTex]