Unified losses for multi-modal pose coding and regression
Leif M. Johnson, Joseph L. Cooper, Dana H. Ballard · 2013
Sparsity and redundancy reduction have been shown to be useful in machine learning, but empirical evaluation has been performed primarily on classification tasks using datasets of natural images and sounds. Similarly, the performance of unsupervised feature learning followed by supervised fine-tuning has primarily focused on classification tasks. In comparison, relatively little work has investigated the use of sparse codes for representing human movements and poses, or for using these codes in regression tasks with movement data. This paper defines a basic coding and regression architecture for evaluating the impact of sparsity when coding human pose information, and tests the performance of several coding methods within this framework for the task of mapping from a kinematic (joint angle) modality to a dynamic (joint torque) one. In addition, we evaluate the performance of unified loss functions defined on the same class of models. We show that, while sparse codes are useful for effective mappings between modalities, their primary benefit for this task seems to be in admitting overcomplete codebooks. We make use of the proposed architecture to examine in detail the sources of error for each stage in the model under various coding strategies. Furthermore, we show that using a unified loss function that passes gradient information between stages of the coding and regression architecture provides substantial reductions in overall error.