arXiv subjects

Junn Yong Loo

Publications and source records attributed to Junn Yong Loo.

21 records · Page 2Linked to original sources

arXiv2024

Sigma-point Kalman Filter with Nonlinear Unknown Input Estimation via Optimization and Data-driven Approach for Dynamic Systems

Most works on joint state and unknown input (UI) estimation require the assumption that the UIs are linear; this is potentially restrictive as it does not hold in many intelligent autonomous systems. To overcome this restriction and circumvent the need to linearize the system, we propose a derivative-free Unknown Input Sigma-point Kalman Filter (SPKF-nUI) where the SPKF is interconnected with a general nonlinear UI estimator that can be implemented via nonlinear optimization and data-driven approaches. The nonlinear UI estimator uses the posterior state estimate which is less susceptible to state prediction error. In addition, we introduce a joint sigma-point transformation scheme to incorporate both the state and UI uncertainties in the estimation of SPKF-nUI. An in-depth stochastic stability analysis proves that the proposed SPKF-nUI yields exponentially converging estimation error bounds under reasonable assumptions. Finally, two case studies are carried out on a simulation-based rigid robot and a physical soft robot, i.e., robots made of soft materials with complex dynamics to validate effectiveness of the proposed filter on nonlinear dynamic systems. Our results demonstrate that the proposed SPKF-nUI achieves the lowest state and UI estimation errors when compared to the existing nonlinear state-UI filters.

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arXiv2024

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) are shifting towards acknowledging the non-Euclidean topology and dynamic aspects of brain connectivity across time. In this paper, a deep spatiotemporal variational Bayes (DSVB) framework is proposed to learn time-varying topological structures in dynamic FC networks for identifying autism spectrum disorder (ASD) in human participants. The framework incorporates a spatial-aware recurrent neural network with an attention-based message passing scheme to capture rich spatiotemporal patterns across dynamic FC networks. 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 substantially outperforms state-of-the-art methods in identifying patients with ASD. Dynamic FC analyses with DSVB-learned embeddings reveal apparent group differences between ASD and healthy controls in brain network connectivity patterns and switching dynamics of brain states. The code is available at https://github.com/Monash-NeuroAI/Deep-Spatiotemporal-Variational-Bayes.

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arXiv2024

Variational Potential Flow: A Novel Probabilistic Framework for Energy-Based Generative Modelling

Energy based models (EBMs) are appealing for their generality and simplicity in data likelihood modeling, but have conventionally been difficult to train due to the unstable and time-consuming implicit MCMC sampling during contrastive divergence training. In this paper, we present a novel energy-based generative framework, Variational Potential Flow (VAPO), that entirely dispenses with implicit MCMC sampling and does not rely on complementary latent models or cooperative training. The VAPO framework aims to learn a potential energy function whose gradient (flow) guides the prior samples, so that their density evolution closely follows an approximate data likelihood homotopy. An energy loss function is then formulated to minimize the Kullback-Leibler divergence between density evolution of the flow-driven prior and the data likelihood homotopy. Images can be generated after training the potential energy, by initializing the samples from Gaussian prior and solving the ODE governing the potential flow on a fixed time interval using generic ODE solvers. Experiment results show that the proposed VAPO framework is capable of generating realistic images on various image datasets. In particular, our proposed framework achieves competitive FID scores for unconditional image generation on the CIFAR-10 and CelebA datasets.

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