Dlsportsterry150622 150624054011 Lva1 App6892 PDF

MACHINE LEARNING,
DEEP LEARNING, AND

MOTION ANALYSIS
University of Waterloo
Department of Electrical & Computer Engineering
Terry Taewoong Um
Terry Taewoong Um (terry.t.um@gmail.com)

1
CAUTION
• I cannot explain everything

• You cannot get every details
• Try to get a big picture

• Get some useful keywords
• Connect with your research

2
CONTENTS
1. What is Machine Learning?

(Part 1 Q & A)
2. What is Deep Learning?

(Part 2 Q & A)
3. Machine Learning in Motion Analysis

(Part 3 Q & A)

3
CONTENTS
1. What is Machine Learning?

4
W H AT I S M A C H I N E L E A R N I N G ?
"A computer program is said to learn from experience E
with respect to some class of tasks T and performance
measure P, if its performance at tasks in T, as measured
by P, improves with experience E“ – T. Michell (1997)
Example: A program for soccer tactics
T : Win the game

P : Goals
E : (x) Players’ movements
(y) Evaluation

5
W H AT I S M A C H I N E L E A R N I N G ?
“Toward learning robot table tennis”, J. Peters et al. (2012)

https://youtu.be/SH3bADiB7uQ

6
TA S K S
classification regression clustering

discrete target values real target values no target values
x : pixels (28*28) x ∈ (0,100) x ∈ (-3,3)×(-3,3)
y : 0,1, 2,3,…,9 y : 0,1, 2,3,…,9

7
PERFORMANCE

0-1 loss function L2 loss function

8
EXPERIENCE

labeled data labeled data unlabeled data
(pixels)→(number) (x) → (y) (x1,x2)

9
A TO Y E X A M P L E
Weight
(kg)
[Output Y]
? Height(cm)
[Input X]

10
Weight Y = aX+b
(kg)
80
180 Height(cm)
Model : Y = aX+b Parameter : (a, b)
[Goal] Find (a,b) which best fits the given data
11
[Numerical Solution]
1. Set a cost function
2. Apply an optimization method

[Analytic Solution]
(e.g. Gradient Descent (GD) Method)
Least square problem
L
(from AX = b, X=A#b where

A# is A’s pseudo inverse)
Local minima problem
(a,b)
Not always available http://www.yaldex.com/game- http://mnemstudio.org/neural-networks-
development/1592730043_ch18lev1sec4.html multilayer-perceptron-design.htm

12
W H AT W O U L D B E T H E C O R R E C T M O D E L ?
Select a model → Set a cost function → Optimization
Running
Record
(min)
140
32 Age(year)

13
1. Regularization 2. Nonparametric model
“overfitting”
? X

14
L 2 R E G U L A R I Z AT I O N
(e.g. w=(a,b) where Y=aX+b)
Avoid a complicated model!
• Another interpretation :
: Maximum a Posteriori (MAP)
http://goo.gl/6GE2ix

15
L 2 R E G U L A R I Z AT I O N
• Bayesian inference ex) fair coin : 50% H, 50% T
prior likelihood falsified coin : 80% H, 20% T
posterior
𝑃 𝐵𝑒𝑙𝑖𝑒𝑓 𝑃(𝐷𝑎𝑡𝑎|𝐵𝑒𝑙𝑖𝑒𝑓) Let’s say we observed ten heads consecutively.
𝑃 𝐵𝑒𝑙𝑖𝑒𝑓 𝐷𝑎𝑡𝑎 =
𝑃(𝐷𝑎𝑡𝑎)
What’s the probability for being a fair coin?
normalization
Fair 𝑃 𝐵𝑒𝑙𝑖𝑒𝑓 = 0.2

(you don’t believe this coin is fair)
10 Falsified 𝑃 𝐵𝑒𝑙𝑖𝑒𝑓 = 0.8
𝑃 𝐷𝑎𝑡𝑎|𝐵𝑒𝑙𝑖𝑒𝑓 = 0.5 ≈ 0.001 𝑃 𝐷𝑎𝑡𝑎|𝐵𝑒𝑙𝑖𝑒𝑓 = 0.810 ≈ 0.107
coin? 𝑃 𝐵𝑒𝑙𝑖𝑒𝑓|𝐷𝑎𝑡𝑎 ∝ 0.2 ∗ 0.001 = 0.0002 coin? 𝑃 𝐵𝑒𝑙𝑖𝑒𝑓|𝐷𝑎𝑡𝑎 ∝ 0.8 ∗ 0.107 = 0.0856
0.0002
Fair = = 0.23% , Unfair = 99.77%
0.0002+0.0856
• Another interpretation :
: Maximum a Posteriori (MAP)

16
1. Regularization 2. Nonparametric model
error
test error
training validation test
set set set
for training for early for evaluation
training error (parameter stopping (measure the
optimization) (avoid performance)
we should overfitting)
training time
stop here
keep watching the validation error

17
N O N PA R A M E T R I C M O D E L
• It does not assume any parametric models (e.g. Y = aX+b, Y=aX2+bX+c, etc.)
• It often requires much more samples
• Kernel methods are frequently applied for modeling the data

• Gaussian Process Regression (GPR), a sort of kernel method, is a widely-used
nonparametric regression method
• Support Vector Machine (SVM), also a sort of kernel method, is a widely-used
nonparametric classification method
kernel function
[Input space] [Feature space]

18
S U P P O R T V E C TO R M A C H I N E ( S V M )
[Linear classifiers] [Maximum margin]

“Myo”, Thalmic Labs (2013)
https://youtu.be/oWu9TFJjHaM
kernel function
[Dual formulation] ( )
kernel function
Terry Taewoong Um (terry.t.um@gmail.com) Support vector Machine Tutorial, J. Weston, http://goo.gl/19ywcj

19
GAUSSIAN PROCESS REGRESSION (GPR)
• Gaussian Distribution
• Multivariate regression likelihood https://goo.gl/EO54WN
likelihood
prior
posterior
https://youtu.be/kvPmArtVoFE
prediction conditioning the joint distribution of the observed & predicted values
https://youtu.be/YqhLnCm0KXY
http://goo.gl/XvOOmf

20
DIMENSION REDUCTION
• Principal Component Analysis

low dim. high dim.
: Find the best orthogonal axes
(=principal components) which
maximize the variance of the data
𝑋 → ∅(𝑋)
high dim. low dim.
Y = P X
* The rows in P are m largest eigenvectors

1
of 𝑋𝑋 𝑇 (covariance matrix)
𝑁
[Original space] [Feature space]

21
DIMENSION REDUCTION
http://jbhuang0604.blogspot.kr/2013/04/miss-korea-2013-contestants-face.html

22
S U M M A RY - PA R T 1
• Machine Learning
- Tasks : Classification, Regression, Clustering, etc.
- Performance : 0-1 loss, L2 loss, etc.
- Experience : labeled data, unlabelled data
• Machine Learning Process

(1) Select a parametric / nonparametric model
(2) Set a performance measurement including regularization term
(3) Training data (optimizing parameters) until validation error increases
(4) Evaluate the final performance using test set
• Nonparametric model : Support Vector Machine, Gaussian Process Regression

• Dimension reduction : used as pre-processing data

23
CONTENTS
Questions about Part 1?

24
CONTENTS
2. What is Deep Learning?

25
PA R A D I G M C H A N G E
PAST PRESENT
How can we find a

good representation?
ML What is the best
Method ML method for
(e.g. Representation
GPR, SVM)
the target task?
Knowledge Knowledge

26
PRESENT
kernel function
How can we find a

Representation
Knowledge

27
PRESENT
IMAGE
How can we find a

Hand-Crafted Features Representation

(Features)
SPEECH
Knowledge

28
PRESENT
IMAGE
Representation
(Features)
Hand-Crafted Features
Can we learn a good representation
(feature) for the target task as well?
SPEECH
Knowledge

29
DEEP LEARNING
• What is Deep Learning (DL) ?
- Learning methods which have deep (not shallow) architecture
- It often allows end-to-end learning
- It automatically finds intermediate representation. Thus,

it can be regarded as a representation learning
- It often contains stacked “neural network”. Thus,

Deep learning usually indicates “deep neural network” http://goo.gl/5Ry08S
“Deep Gaussian Process” (2013) http://goo.gl/fxmmPE

https://youtu.be/NwoGqYsQifg

30
O U T S TA N D I N G P E R F O R M A N C E O F D L
• State-of-art results achieved by DL
- Object recognition (Simonyan et al., 2015)

- Natural machine translation (Bahdanau et al., 2014)
- Speech recognition (Chorowski et al., 2014)
- Face recognition (Taigman et al., 2014)
- Emotion recognition (Ebrahimi-Kahou et al., 2014)
- Human pose estimation (Jain et al., 2014)
- Deep reinforcement learning(mnih et al., 2013)
- Image/Video caption (Xu et al., 2015)
- Particle physics (Baldi et al., 2014)
error rate : 28% → 15% → 8%
- Bioinformatics (Leung et al., 2014)
(2010) (2012) (2014)
- And so on…. K. Cho, https://goo.gl/vdfGpu
DL has won most of ML challenges!

31
BIOLOGICAL EVIDENCE
Andrew Ng, https://youtu.be/ZmNOAtZIgIk
• Somatosensory cortex learns to see

• Why do we need different ML methods
for different task?
• The vental pathway in the visual cortex has multiple stages

• There exist a lot of intermediate representations
Yann LeCun, https://goo.gl/VVQXJG

32
BIG MOVEMENT
Going deeper and deeper….
http://goo.gl/zNbBE2 http://goo.gl/Lk64Q4

33
NEURAL NETWORK (NN)
• Universal approximation theorem (Hornik, 1991)
- A single hidden layer NN w/ linear output can approximate any cont. func. arbitrarily well,
given enough hidden units
- This does not imply we have learning method to train them

34
Hugo Larochelle, http://www.dmi.usherb.ca/~larocheh/index_en.html
TRAINING NN
1• First, calculate the output using data & initial parameters (W ,b)
• Activation functions
http://goo.gl/qMQk5H

35
TRAINING NN
2• Then, calculate the error and update the weights from top to bottom
: Backpropagation algorithm
• Parameter gradients known

36
TRAINING NN
• Parameter gradients
known

37
TRAINING NN
known

38
TRAINING NN
known

39
TRAINING NN
3• Repeat this process with different dataset(mini-batches)
- Forward propagation (calculate the output values)

- Evaluate the error
- Backward propagation (update the weights)
- Repeat this process until the error converges
• As you can see here, NN is not a fancy algorithm,

but just a iterative gradient descent method with
huge number of parameters
• NN is often likely to be
stuck in local minima pitfall
40
F R O M N N TO D E E P N N
• A long winter of NN
- NN requires expert’s skill to tune the hyperparameters
- It sometimes gives a good result, but sometimes gives a bad result.
The result is highly depend on the quality of initialization, regularization,
hyperparameters, data, etc.
- Local minima is always problematic
• From NN to deep NN (since 2006)
Geoffrey Hinton Yann LeCun Yoshua Bengio

(U. Toronto, Google) (NYU, Facebook) (U. Montreal)

41
WHY IS DL SO SUCCESSFUL?
• Pre-training with unsupervised learning
• Convolutional Neural Network
• Recurrent Neural Net
• GPGPU (parallel processing) & big data
• Advanced algorithms for optimization,

activation, regularization
• Huge research society

(Vision, Speech, NLP, Biology, etc.)
http://t-robotics.blogspot.kr/2015/05/deep-learning.html

42
U N S U P E RV I S E D L E A R N I N G
• How can we avoid pathologic local minima cases?
(1) First, pre-train the data with unsupervised learning method

and get a new representation
(2) Stack up this block structures
(3) Training each layer in end-to-end manner
(4) Fine tune the final structure with (ordinary) fully-connected NN

http://goo.gl/QGJm5k
• Unsupervised learning method
- Restricted Boltzmann Machine (RBM)

→ Deep RBM, Deep Belief Network (DBN)
- Autoencoder
→ Deep Auto-encoder
Autoencoder http://goo.gl/s6kmqY

43
U N S U P E RV I S E D L E A R N I N G
“Convolutional deep belief networks for scalable unsupervised learning of hierarchical representation”, Lee et al., 2012

44
CONVOLUTIONAL NN
https://goo.gl/Xswsbd
• How can we deal with real images which is

much bigger than MNIST digit images?
- Use not fully-connected, but locally-connected NN

- Use convolutions to get various feature maps
https://goo.gl/G7kBjI
- Abstract the results into higher layer by using pooling

- Fine tune with fully-connected NN
http://goo.gl/5OR5oH

45
CONVOLUTIONAL NN
“Visualization and Understanding Convolutional Network”, Zeiler et al., 2012

46
CONVNET + RNN
“Large-scale Video Classification with Convolutional Neural Network”,

A. Karpathy 2014, https://youtu.be/qrzQ_AB1DZk

47
RECURRENT NEURAL NETWORK (RNN)
[Neural Network] [Recurrent Neural Network]
t-1 t t+1
http://www.dmi.usherb.ca/~larocheh/index_en.html

48
RECURRENT NEURAL NETWORK (RNN)
[Neural Network] [Recurrent Neural Network]
back propagation
through time
(BPTT)
back propagation
“Training Recurrent Neural Networks, I. Sutskever, 2013

• Vanishing gradient problem : Can’t have long memory!

49
RNN + LSTM
• Long Short-Term Memory (LSTM) (Hochreiter and Schmidhuber, 1997)
“Training Recurrent Neural Networks, I. Sutskever, 2013

50
I N T E R E S T I N G R E S U LT S F R O M R N N
http://cs.stanford.edu/people/karpathy/deepimagesent/
“generating sequences with RNN”,

A.Graves, 2013
http://pail.unist.ac.kr/carpedm20/poet/

51
WHY IS DL SO SUCCESSFUL?
• Pre-training with unsupervised learning
• Convolutional Neural Network
• Recurrent Neural Net
• GPGPU (parallel processing) & big data
• Advanced algorithms for optimization,

activation, regularization
• Huge research society

(Vision, Speech, NLP, Biology, etc.)
http://t-robotics.blogspot.kr/2015/05/deep-learning.html

52
CONTENTS
Questions about Part 2?

53
CONTENTS
3. Machine Learning in
Motion Analysis

54
M O T I O N D ATA
“츄리닝”, 이상신 국중록

55
M O T I O N D ATA
“츄리닝”, 이상신 국중록
We need to know the state not only at time t

𝑓 = 𝑓(𝑥, 𝑡)
but also at time t-1, t-2, t-3, etc.

56
M O T I O N D ATA
• Why do motion data need special treatment?
- In general, most machine learning techniques assume i.i.d. (independent
& identically distributed) sampling condition.
e.g.) coins tossing
- However, motion data is temporally & spatially correlated
swing motion http://goo.gl/LQulvc manipulability ellipsoid https://goo.gl/dHjFO9

57
M O T I O N D ATA
http://goo.gl/ll3sq6
We can infer the next state But, how can we exploit

based on the temporal & those benefits in ML method?
spatial information

58
W H AT C A N W E D O W I T H M O T I O N D ATA ?
TASKS
• Learning the kinematic/dynamic model
• Motion segmentation
• Motion generation / synthesis
• Motion imitation (Imitation learning)
• Activity / Gesture recognition
http://goo.gl/gFOVWL
Data Applications
• Motion capture data • Biomechanics
• Vision Data • Humanoid
• Dynamic-level data • Animation

59
HIDDEN MARKOV MODEL (HMM)
Prob. of (n+1) state only depends on state at (n+1)

60
L I M I TAT I O N S O F H M M
• A common procedure of HMM for motion analysis
1. Extract features (e.g. PCA)

2. Define the HMM structure (e.g. using GMM)
3. Train a separate HMM per class (Baum-Welch algorithm)
4. Evaluate probability under each HMM (Fwd/Bwd algorithm)
or 3. Choose most probable sequence (Viterbi algorithm)
• Limitations & trend change in speech recognition area

- HMM handle discrete states only!
- HMM has short memory! (using just the previous state)
- HMM has limited expressive power!
- [Trend1] features-GMM → unsupervised learning methods
- [Trend2] features-GMM-HMM → recurrent neural network

61
C A P T U R E T E M P O R A L I N F O R M AT I O N
• 3D ConvNet
- “3D Convolutional Neural Network for
Human Action Recognition” (Ji et al., 2010)
- 3D convolution
- Activity recognition / Pose estimation from video
“Joint Training of a Convolutional Network

and a Graphical Model for Human Pose
Estimation”, Tompson et al., 2014

62
C A P T U R E T E M P O R A L I N F O R M AT I O N
• Recurrent Neural Network (RNN)
“Hierarchical Recurrent Neural Network for Skeleton Based Action Recognition”, Y. Du et al., 2015
• However, how can we capture the

spatial information about motions?

63
CHALLENGES
We should connect the geometric information with deep neural network!
• The link transformation from the i-1 th link to the i th link

𝑋𝑖−1,𝑖 = 𝑅𝑜𝑡 𝑧, 𝜃𝑖 𝑇𝑟𝑎𝑛𝑠 𝑧, 𝑑𝑖 𝑇𝑟𝑎𝑛𝑠 𝑥 , 𝑎𝑖 𝑅𝑜𝑡 𝑧, 𝛼𝑖 = 𝑒 [𝐴𝑖 ]𝜃𝑖 𝑀𝑖−1,𝑖
variable, 𝜃 constant, M
• Forward Kinematics
𝑋0,𝑛 = 𝑒 [𝐴1 ]𝜃1 𝑀0,1 𝑒 [𝐴2 ]𝜃2 𝑀1,2 ⋯ 𝑒 𝐴𝑛 𝜃𝑛
𝑀𝑛−1,𝑛 c.f.)
= 𝑒 [𝑆1 ]𝜃1 𝑒 [𝑆2 ]𝜃2 ⋯ 𝑒 [𝑆𝑛 ]𝜃𝑛 𝑀0,𝑛

𝑆𝑖 = 𝐴𝑑𝑀01 ⋯𝑀𝑖−2,𝑖−1 𝐴𝑖 , 𝑖 = 1, ⋯ , 𝑛
• Newton-Euler formulation for inverse dynamics
Lie group & Lie algebra,

http://goo.gl/uqilDV
external force acting

on the ith body propagated forces where

64
CHALLENGES
https://www.youtube.com/watch?v=oxA2O-tHftI

65
Thank you

66

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MACHINE LEARNING,

DEEP LEARNING, AND

Terry Taewoong Um (terry.t.um@gmail.com)

• I cannot explain everything

• Try to get a big picture

Terry Taewoong Um (terry.t.um@gmail.com)

1. What is Machine Learning?

2. What is Deep Learning?

3. Machine Learning in Motion Analysis

Terry Taewoong Um (terry.t.um@gmail.com)

1. What is Machine Learning?

Terry Taewoong Um (terry.t.um@gmail.com)

Example: A program for soccer tactics

T : Win the game

Terry Taewoong Um (terry.t.um@gmail.com)

“Toward learning robot table tennis”, J. Peters et al. (2012)

Terry Taewoong Um (terry.t.um@gmail.com)

classification regression clustering

Terry Taewoong Um (terry.t.um@gmail.com)

classification regression clustering

Terry Taewoong Um (terry.t.um@gmail.com)

classification regression clustering

Terry Taewoong Um (terry.t.um@gmail.com)

Terry Taewoong Um (terry.t.um@gmail.com)

2. Apply an optimization method

(from AX = b, X=A#b where

Terry Taewoong Um (terry.t.um@gmail.com)

Select a model → Set a cost function → Optimization

Terry Taewoong Um (terry.t.um@gmail.com)

Terry Taewoong Um (terry.t.um@gmail.com)

(e.g. w=(a,b) where Y=aX+b)

Avoid a complicated model!

Terry Taewoong Um (terry.t.um@gmail.com)

Fair 𝑃 𝐵𝑒𝑙𝑖𝑒𝑓 = 0.2

Terry Taewoong Um (terry.t.um@gmail.com)

Terry Taewoong Um (terry.t.um@gmail.com)

• Kernel methods are frequently applied for modeling the data

[Input space] [Feature space]

Terry Taewoong Um (terry.t.um@gmail.com)

[Linear classifiers] [Maximum margin]

Terry Taewoong Um (terry.t.um@gmail.com) Support vector Machine Tutorial, J. Weston, http://goo.gl/19ywcj

• Multivariate regression likelihood https://goo.gl/EO54WN

Terry Taewoong Um (terry.t.um@gmail.com)

• Principal Component Analysis

* The rows in P are m largest eigenvectors

Terry Taewoong Um (terry.t.um@gmail.com)

Terry Taewoong Um (terry.t.um@gmail.com)

• Machine Learning Process

• Nonparametric model : Support Vector Machine, Gaussian Process Regression

Terry Taewoong Um (terry.t.um@gmail.com)

Questions about Part 1?

Terry Taewoong Um (terry.t.um@gmail.com)

2. What is Deep Learning?

Terry Taewoong Um (terry.t.um@gmail.com)

How can we find a

Terry Taewoong Um (terry.t.um@gmail.com)

How can we find a

Terry Taewoong Um (terry.t.um@gmail.com)

How can we find a

Hand-Crafted Features Representation

Terry Taewoong Um (terry.t.um@gmail.com)

Terry Taewoong Um (terry.t.um@gmail.com)

- It often allows end-to-end learning