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We present a probabilistic model for unsupervised alignment of high-dimensional time-warped sequences based on the Dirichlet Process Mixture Model (DPMM). We follow the approach introduced in (Kazlauskaite, 2018) of simultaneously representing each data sequence as a composition of a true underlying function and a time-warping, both of which are modelled using Gaussian processes (GPs) (Rasmussen, 2005), and aligning the underlying functions using an unsupervised alignment method. In (Kazlauskaite, 2018) the alignment is performed using the GP latent variable model (GP-LVM) (Lawrence, 2005) as a model of sequences, while our main contribution is extending this approach to using DPMM, which allows us to align the sequences temporally and cluster them at the same time. We show that the DPMM achieves competitive results in comparison to the GP-LVM on synthetic and real-world data sets, and discuss the different properties of the estimated underlying functions and the time-warps favoured by these models.
The parsimonious Gaussian mixture models, which exploit an eigenvalue decomposition of the group covariance matrices of the Gaussian mixture, have shown their success in particular in cluster analysis. Their estimation is in general performed by maxi
We present a model that can automatically learn alignments between high-dimensional data in an unsupervised manner. Our proposed method casts alignment learning in a framework where both alignment and data are modelled simultaneously. Further, we aut
We develop a sequential low-complexity inference procedure for Dirichlet process mixtures of Gaussians for online clustering and parameter estimation when the number of clusters are unknown a-priori. We present an easily computable, closed form param
Dirichlet process mixture models (DPMM) play a central role in Bayesian nonparametrics, with applications throughout statistics and machine learning. DPMMs are generally used in clustering problems where the number of clusters is not known in advance
Using movement primitive libraries is an effective means to enable robots to solve more complex tasks. In order to build these movement libraries, current algorithms require a prior segmentation of the demonstration trajectories. A promising approach