Cross-domain Transfer Learning and State Inference for Soft Robots via a Semi-supervised Sequential Variational Bayes Framework

Recently, data-driven models such as deep neural networks have shown to be promising tools for modelling and state inference in soft robots. However, voluminous amounts of data are necessary for deep models to perform effectively, which requires exhaustive and quality data collection, particularly of state labels. Consequently, obtaining labelled state data for soft robotic systems is challenged for various reasons, including difficulty in the sensorization of soft robots and the inconvenience of collecting data in unstructured environments. To address this challenge, in this paper, we propose a semi-supervised sequential variational Bayes (DSVB) framework for transfer learning and state inference in soft robots with missing state labels on certain robot configurations. Considering that soft robots may exhibit distinct dynamics under different robot configurations, a feature space transfer strategy is also incorporated to promote the adaptation of latent features across multiple configurations. Unlike existing transfer learning approaches, our proposed DSVB employs a recurrent neural network to model the nonlinear dynamics and temporal coherence in soft robot data. The proposed framework is validated on multiple setup configurations of a pneumatic-based soft robot finger. Experimental results on four transfer scenarios demonstrate that DSVB performs effective transfer learning and accurate state inference amidst missing state labels.

A Deep Probabilistic Spatiotemporal Framework for Dynamic Graph Representation Learning with Application to Brain Disorder Identification

Recent applications of pattern recognition techniques on brain connectome classification using functional connectivity (FC) neglect the non-Euclidean topology and causal dynamics of brain connectivity across time. In this paper, a deep probabilistic spatiotemporal framework developed based on variational Bayes (DSVB) is proposed to learn time-varying topological structures in dynamic brain FC networks for autism spectrum disorder (ASD) identification. The proposed framework incorporates a spatial-aware recurrent neural network to capture rich spatiotemporal patterns across dynamic FC networks, followed by a fully-connected neural network to exploit these learned patterns for subject-level classification. To overcome model overfitting on limited training datasets, an adversarial training strategy is introduced to learn graph embedding models that generalize well to unseen brain networks. Evaluation on the ABIDE resting-state functional magnetic resonance imaging dataset shows that our proposed framework significantly outperformed state-of-the-art methods in identifying ASD. Dynamic FC analyses with DSVB learned embeddings reveal apparent group difference between ASD and healthy controls in network profiles and switching dynamics of brain states.