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**Sharing Features among Dynamical Systems with Beta Processes**

Emily B. Fox, Erik B. Sudderth, Michael I. Jordan, Alan S. Willsky NIPS 2009 Some pictures and slides are adopted from Emily Fox’s paper and slides in NIPS 2009

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**Outline Introduction Sticky HDP-HMM**

Beta process autoregressive HMM (BP-AR-HMM) Experiment Results Conclusion

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Introduction Problem: To discover and model common behaviors in related time series. Jointly model multiple time series Transfer knowledge between related time series Uncover interesting relationships Standard way to represent the set of behaviors time series exhibit via associated features: Binary matrix Time Series Dynamic Behavior If implies that time series i exhibit feature k

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**picture is adopted from Emily Fox’s paper in ICML 2008**

Sticky HDP-HMM HDP-HMM assumes all time series exhibit the same behaviors in same way picture is adopted from Emily Fox’s paper in ICML 2008

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**BP-AR-HMM Model Beta process prior**

masses The beta process distributed measure is represented by its masses and locations as Beta process prior Shared set of features or behaviors

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**BP-AR-HMM Model Features indicating behaviors of object i**

Transition patterns for object i

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**BP-AR-HMM Model Latent dynamical mode for object i**

Switching Vector Autoregressive (VAR) Process with order r

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**BP-AR-HMM Inference Metropolis-Hastings binary feature sampling**

“Birth and dead” reversible jump MCMC (RJMCMC) Proposal Distribution: is defined similarly, but using where

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**BP-AR-HMM Inference MH acceptance probability is where**

MH sampling is also used for updating and

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**Synthetic Experiments**

Five time series are generated from with

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**Motion Capture (MoCap) Experiments**

6 CMU MoCap exercise routines Each routine includes some of the following 12 motions: running in place, jumping jacks, arm circles, side twists, knee raises, squats, punching, up and down, two variants of toe touches, arch over, and a reach out stretch Observation: 62-dimension 25 chains of the sampler for 15,000 burn-in and 5000 collections Chosen MCMC sample minimizes an expected Hamming distance criterion

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MoCap Results Share motions: Jumping jacks, Side twists, Arm circles, Squats Unique motion: Bend Over, Punching, Toe Touch 1, Toe Touch 2 Split motions: knee raises, up and down, running in place

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**Comparison with Other Models**

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Conclusion Bayesian nonparametric framework for discovering dynamical features common to multiple time series Novel exact sampling algorithm for non-conjugate beta process models

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