MANIFOLD LEARNING FOR ROBOT NAVIGATION

2006 ◽  
Vol 16 (05) ◽  
pp. 383-392 ◽  
Author(s):  
NARONGDECH KEERATIPRANON ◽  
FREDERIC MAIRE ◽  
HENRY HUANG
Keyword(s):  
Dimensionality Reduction ◽  
Manifold Learning ◽  
Robot Navigation ◽  
Internal Representation ◽  
Polygonal Line ◽  
Range Data ◽  
Navigation Systems ◽  
Learning Techniques ◽  
Linear Dimensionality Reduction ◽  
Low Dimensional

In this paper we introduce methods to build a SOM that can be used as an isometric map for mobile robots. That is, given a dataset of sensor readings collected at points uniformly distributed with respect to the ground, we wish to build a SOM whose neurons (prototype vectors in sensor space) correspond to points uniformly distributed on the ground. Manifold learning techniques have already been used for dimensionality reduction of sensor space in navigation systems. Our focus is on the isometric property of the SOM. For reliable path-planning and information sharing between several robots, it is desirable that the robots build an internal representation of the sensor manifold, a map, that is isometric with the environment. We show experimentally that standard Non-Linear Dimensionality Reduction (NLDR) algorithms do not provide isometric maps for range data and bearing data. However, the auxiliary low dimensional manifolds created can be used to improve the distribution of the neurons of a SOM (that is, make the neurons more evenly distributed with respect to the ground). We also describe a method to create an isometric map from a sensor readings collected along a polygonal line random walk.

Macro Manifold Learning with Applications to Supervised Classification

2014 ◽  
Vol 556-562 ◽  
pp. 3590-3593
Author(s):  
Hong Bing Huang
Keyword(s):  
Pattern Recognition ◽  
Dimensionality Reduction ◽  
Manifold Learning ◽  
Supervised Classification ◽  
Experimental Results ◽  
Classification Tasks ◽  
Low Dimensional

Manifold learning has made many successful applications in the fields of dimensionality reduction and pattern recognition. However, when it is used for supervised classification, the result is still unsatisfactory. To address this challenge, a novel supervised approach, namely macro manifold learning (MML) is proposed. Based on the proposed approach, the low-dimensional embeddings of the testing samples is more favorable for classification tasks. Experimental results demonstrate the feasibility and effectiveness of our proposed approach.

scholarly journals Unsupervised Metric Learning Using Low Dimensional Embedding

2018 ◽  
Author(s):  
Parag Jain
Keyword(s):  
Manifold Learning ◽  
Euclidean Distance ◽  
Metric Learning ◽  
Special Property ◽  
Dimensional Manifold ◽  
Laplacian Eigenmaps ◽  
Learning Techniques ◽  
Out Of Sample ◽  
Low Dimensional ◽  
Project Data

Unsupervised metric learning has been generally studied as a byproduct of dimensionality reduction or manifold learning techniques. Manifold learning techniques like Diusion maps, Laplacian eigenmaps has a special property that embedded space is Euclidean. Although laplacian eigenmaps can provide us with some (dis)similarity information it does not provide with a metric which can further be used on out-of-sample data. On other hand supervised metric learning technique like ITML which can learn a metric needs labeled data for learning. In this work propose methods for incremental unsupervised metric learning. In rst approach Laplacian eigenmaps is used along with Information Theoretic Metric Learning(ITML) to form an unsupervised metric learning method. We rst project data into a low dimensional manifold using Laplacian eigenmaps, in embedded space we use euclidean distance to get an idea of similarity between points. If euclidean distance between points in embedded space is below a threshold t1 value we consider them as similar points and if it is greater than a certain threshold t2 we consider them as dissimilar points. Using this we collect a batch of similar and dissimilar points which are then used as a constraints for ITML algorithm and learn a metric. To prove this concept we have tested our approach on various UCI machine learning datasets. In second approach we propose Incremental Diusion Maps by updating SVD in a batch-wise manner.

LTSA Algorithm for Dimension Reduction of Microarray Data

2013 ◽  
Vol 645 ◽  
pp. 192-195 ◽  
Author(s):  
Xiao Zhou Chen
Keyword(s):  
Dimensionality Reduction ◽  
Dimension Reduction ◽  
Manifold Learning ◽  
Microarray Data ◽  
Learning Algorithm ◽  
Medical Applications ◽  
Data Sets ◽  
Learning Method ◽  
Data Dimensionality Reduction ◽  
Low Dimensional

Dimension reduction is an important issue to understand microarray data. In this study, we proposed a efficient approach for dimensionality reduction of microarray data. Our method allows to apply the manifold learning algorithm to analyses dimensionality reduction of microarray data. The intra-/inter-category distances were used as the criteria to quantitatively evaluate the effects of data dimensionality reduction. Colon cancer and leukaemia gene expression datasets are selected for our investigation. When the neighborhood parameter was effectivly set, all the intrinsic dimension numbers of data sets were low. Therefore, manifold learning is used to study microarray data in the low-dimensional projection space. Our results indicate that Manifold learning method possesses better effects than the linear methods in analysis of microarray data, which is suitable for clinical diagnosis and other medical applications.

scholarly journals Generalized EmbedSOM on quadtree-structured self-organizing maps

F1000Research ◽  
2020 ◽  
Vol 8 ◽  
pp. 2120
Author(s):  
Miroslav Kratochvíl ◽  
Abhishek Koladiya ◽  
Jiří Vondrášek
Keyword(s):  
Data Analysis ◽  
Dimensionality Reduction ◽  
Single Cell ◽  
Manifold Learning ◽  
Generating Functions ◽  
The Self ◽  
Reduction Algorithm ◽  
Self Organizing Maps ◽  
Learning Techniques ◽  
Self Organizing

EmbedSOM is a simple and fast dimensionality reduction algorithm, originally developed for its applications in single-cell cytometry data analysis. We present an updated version of EmbedSOM, viewed as an algorithm for landmark-directed embedding enrichment, and demonstrate that it works well even with manifold-learning techniques other than the self-organizing maps. Using this generalization, we introduce an inwards-growing variant of self-organizing maps that is designed to mitigate some earlier identified deficiencies of EmbedSOM output. Finally, we measure the performance of the generalized EmbedSOM, compare several variants of the algorithm that utilize different landmark-generating functions, and showcase the functionality on single-cell cytometry datasets from recent studies.

scholarly journals Robust Structure Preserving Nonnegative Matrix Factorization for Dimensionality Reduction

2016 ◽  
Vol 2016 ◽  
pp. 1-14
Author(s):  
Bingfeng Li ◽  
Yandong Tang ◽  
Zhi Han
Keyword(s):  
Dimensionality Reduction ◽  
Matrix Factorization ◽  
Nonnegative Matrix Factorization ◽  
Noisy Data ◽  
Nonnegative Matrix ◽  
Structure Preserving ◽  
Structure Preservation ◽  
Significant Performance ◽  
Linear Dimensionality Reduction ◽  
Low Dimensional

As a linear dimensionality reduction method, nonnegative matrix factorization (NMF) has been widely used in many fields, such as machine learning and data mining. However, there are still two major drawbacks for NMF: (a) NMF can only perform semantic factorization in Euclidean space, and it fails to discover the intrinsic geometrical structure of high-dimensional data distribution. (b) NMF suffers from noisy data, which are commonly encountered in real-world applications. To address these issues, in this paper, we present a new robust structure preserving nonnegative matrix factorization (RSPNMF) framework. In RSPNMF, a local affinity graph and a distant repulsion graph are constructed to encode the geometrical information, and noisy data influence is alleviated by characterizing the data reconstruction term of NMF withl2,1-norm instead ofl2-norm. With incorporation of the local and distant structure preservation regularization term into the robust NMF framework, our algorithm can discover a low-dimensional embedding subspace with the nature of structure preservation. RSPNMF is formulated as an optimization problem and solved by an effective iterative multiplicative update algorithm. Experimental results on some facial image datasets clustering show significant performance improvement of RSPNMF in comparison with the state-of-the-art algorithms.

scholarly journals Generalized EmbedSOM on quadtree-structured self-organizing maps

F1000Research ◽  
2019 ◽  
Vol 8 ◽  
pp. 2120 ◽  
Author(s):  
Miroslav Kratochvíl ◽  
Abhishek Koladiya ◽  
Jiří Vondrášek
Keyword(s):  
Data Analysis ◽  
Dimensionality Reduction ◽  
Single Cell ◽  
Manifold Learning ◽  
Generating Functions ◽  
The Self ◽  
Reduction Algorithm ◽  
Self Organizing Maps ◽  
Learning Techniques ◽  
Self Organizing

EmbedSOM is a simple and fast dimensionality reduction algorithm, originally developed for its applications in single-cell cytometry data analysis. We present an updated version of EmbedSOM, viewed as an algorithm for landmark-based embedding enrichment, and demonstrate that it works well even with manifold-learning techniques other than the self-organizing maps. Using this generalization, we introduce an inwards-growing variant of self-organizing maps that is designed to mitigate some earlier identified deficiencies of EmbedSOM output. Finally, we measure the performance of the generalized EmbedSOM, compare several variants of the algorithm that utilize different landmark-generating functions, and showcase the functionality on single-cell cytometry datasets from recent studies.

Polynomial approximation to manifold learning

2021 ◽  
pp. 1-19
Author(s):  
Guo Niu ◽  
Zhengming Ma ◽  
Haoqing Chen ◽  
Xue Su
Keyword(s):  
Dimensionality Reduction ◽  
Manifold Learning ◽  
Polynomial Approximation ◽  
High Dimensional Data ◽  
High Dimensional ◽  
Dimensional Representation ◽  
Object Function ◽  
Polynomial Representation ◽  
Intrinsic Structure ◽  
Low Dimensional

Manifold learning plays an important role in nonlinear dimensionality reduction. But many manifold learning algorithms cannot offer an explicit expression for dealing with the problem of out-of-sample (or new data). In recent, many improved algorithms introduce a fixed function to the object function of manifold learning for learning this expression. In manifold learning, the relationship between the high-dimensional data and its low-dimensional representation is a local homeomorphic mapping. Therefore, these improved algorithms actually change or damage the intrinsic structure of manifold learning, as well as not manifold learning. In this paper, a novel manifold learning based on polynomial approximation (PAML) is proposed, which learns the polynomial approximation of manifold learning by using the dimensionality reduction results of manifold learning and the original high-dimensional data. In particular, we establish a polynomial representation of high-dimensional data with Kronecker product, and learns an optimal transformation matrix with this polynomial representation. This matrix gives an explicit and optimal nonlinear mapping between the high-dimensional data and its low-dimensional representation, and can be directly used for solving the problem of new data. Compare with using the fixed linear or nonlinear relationship instead of the manifold relationship, our proposed method actually learns the polynomial optimal approximation of manifold learning, without changing the object function of manifold learning (i.e., keeping the intrinsic structure of manifold learning). We implement experiments over eight data sets with the advanced algorithms published in recent years to demonstrate the benefits of our algorithm.

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