Diego R. Faria

Diego R. Faria
University of Hertfordshire | UH

Ph.D. M.Sc. PGdip. BTech.
Cognitive Robotics (Social HRI, Grasping), Assistive Technology, Brain-Computer Interfaces, Applied Machine Learning

About

112
Publications
112,267
Reads
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1,580
Citations
Citations since 2016
86 Research Items
1463 Citations
20162017201820192020202120220100200300400
20162017201820192020202120220100200300400
20162017201820192020202120220100200300400
20162017201820192020202120220100200300400
Introduction
Dr Diego Faria is a Reader in Robotics and Intelligent Adaptive Systems..He received his Ph.D. degree in Electrical and Computer Eng. from Univ. of Coimbra, Portugal(2014). From 2014-16 he was a Postdoctoral fellow at the Inst. of Systems and Robotics,Portugal.He holds an M.Sc. degree in Computer Sci from the Federal Univ. of Parana, Brazil(2005). He earned a B.Tech in Informatics(2001) and completed a Computer Science Specialisation PGDip (2002) at the State Univ. of Londrina, Bazil
Additional affiliations
July 2016 - present
Aston University
Position
  • Lecturer
April 2006 - June 2016
University of Coimbra
Position
  • Researcher
Description
  • Researcher in EU projects PhD Research Postdoctoral Research
Education
July 2007 - August 2013
University of Coimbra
Field of study
  • Electrical and Computer Engineering (Cognitive Robotics)

Publications

Publications (112)
Preprint
Full-text available
In state-of-the-art deep learning for object recognition, SoftMax and Sigmoid functions are most commonly employed as the predictor outputs. Such layers often produce overconfident predictions rather than proper probabilistic scores, which can thus harm the decision-making of `critical' perception systems applied in autonomous driving and robotics....
Article
Contemporary Artificial Intelligence technologies allow for the employment of Computer Vision to discern good crops from bad, providing a step in the pipeline of selecting healthy fruit from undesirable fruit, such as those which are mouldy or damaged. State-of-the-art works in the field report high accuracy results on small datasets (<1000 images)...
Article
Full-text available
Autonomous navigation is a key skill for assistive and service robots. To be successful, robots have to minimise the disruption caused to humans while moving. This implies predicting how people will move and complying with social conventions. Avoiding disrupting personal spaces, people’s paths and interactions are examples of these social conventio...
Article
Full-text available
In state-of-the-art deep learning for object recognition, Softmax and Sigmoid layers are most commonly employed as the predictor outputs. Such layers often produce overconfidence predictions rather than proper probabilistic scores, which can thus harm the decision-making of ‘critical’ perception systems applied in autonomous driving and robotics. G...
Article
The limited quantity of training data can hamper supervised machine learning methods, that generally need large amounts of data to avoid overfitting. Data augmentation has a long history of use with machine learning algorithms and is a straightforward method to overcome overfitting and improve model generalisation. However, data augmentation scheme...
Article
Full-text available
Human-object interaction is of great relevance for robots to operate in human environments. However, state-of-the-art robotic hands are far from replicating humans skills. It is, therefore, essential to study how humans use their hands to develop similar robotic capabilities. This article presents a deep dive into hand-object interaction and human...
Article
Full-text available
Human-object interaction is of great relevance for robots to operate in human environments. However, state-of-the-art robotic hands are far from replicating humans skills. It is, therefore, essential to study how humans use their hands to develop similar robotic capabilities. This article presents a deep dive into hand-object interaction and human...
Article
Full-text available
In this work we present the Chatbot Interaction with Artificial Intelligence (CI-AI) framework as an approach to the training of a transformer based chatbot-like architecture for task classification with a focus on natural human interaction with a machine as opposed to interfaces, code, or formal commands. The intelligent system augments human-sour...
Chapter
Full-text available
In this work, we achieve up to 92% classification accuracy of electromyographic data between five gestures in pseudo-real-time. Most current state-of-the-art methods in electromyographical signal processing are unable to classify real-time data in a post-learning environment, that is, after the model is trained and results are analysed. In this wor...
Preprint
Full-text available
Contemporary Artificial Intelligence technologies allow for the employment of Computer Vision to discern good crops from bad, providing a step in the pipeline of selecting healthy fruit from undesirable fruit, such as those which are mouldy or gangrenous. State-of-the-art works in the field report high accuracy results on small datasets (<1000 imag...
Conference Paper
Full-text available
In this work we achieve up to 92% classification accuracy of electromyographic data between five gestures in pseudo-real-time. Most current state-of-the-art methods in electromyography signal processing are unable to classify real-time data in a post-learning environment, that is, after the model is trained and results are analysed. In this work we...
Preprint
Full-text available
Autonomous navigation is a key skill for assistive and service robots. To be successful, robots have to minimise the disruption caused to humans while moving. This implies predicting how people will move and complying with social conventions. Avoiding disrupting personal spaces, people's paths and interactions are examples of these social conventio...
Article
Full-text available
Synthetic data augmentation is of paramount importance for machine learning classification, particularly for biological data, which tend to be high dimensional and with a scarcity of training samples. The applications of robotic control and augmentation in disabled and able-bodied subjects still rely mainly on subject-specific analyses. Those can r...
Article
Full-text available
We demonstrate improved performance in the classification of bioelectric data for use in systems such as robotic prosthesis control, by data fusion using low-cost electromyography (EMG) and electroencephalography (EEG) devices. Prosthetic limbs are typically controlled through EMG, and whilst there is a wealth of research into the use of EEG as par...
Article
Full-text available
Objective The novelty of this study consists of the exploration of multiple new approaches of data pre-processing of brainwave signals, wherein statistical features are extracted and then formatted as visual images based on the order in which dimensionality reduction algorithms select them. This data is then treated as visual input for 2D and 3D CN...
Chapter
Image-to-image translation is a computer vision problem where a task learns a mapping from a source domain A to a target domain B using a training set. However, this translation is not always accurate, and during the translation process, relevant semantic information can deteriorate. To handle this problem, we propose a new cycle-consistent, advers...
Chapter
We introduce rcGAN, a new generative method that is capable of synthesising arbitrary sized, high-resolution images derived from a single reference image used to train our model. Our two-steps method uses a randomly conditioned convolutional generative adversarial network (rcGAN) trained on patches obtained from a reference image. It can capture th...
Preprint
Full-text available
We demonstrate improved performance in the classification of bioelectric data for use in systems such as robotic prosthesis control, by data fusion using low-cost electromyography (EMG) and electroencephalography (EEG) devices. Prosthetic limbs are typically controlled through EMG, and whilst there is a wealth of research into the use of EEG as par...
Article
Full-text available
In this study, we present a transfer learning method for gesture classification via an inductive and supervised transductive approach with an electromyographic dataset gathered via the Myo armband. A ternary gesture classification problem is presented by states of ’thumbs up’, ’thumbs down’, and ’relax’ in order to communicate in the affirmative or...
Chapter
Full-text available
Autonomous navigation is a key skill for assistive and service robots. To be successful, robots have to comply with social rules, such as avoiding the personal spaces of the people surrounding them, or not getting in the way of human-to-human and human-to-object interactions. This paper suggests using Graph Neural Networks to model how inconvenient...
Article
Full-text available
In this work we present a three-stage Machine Learning strategy to country-level risk classification based on countries that are reporting COVID-19 information. A K% binning discretisation (K = 25) is used to create four risk groups of countries based on the risk of transmission (coronavirus cases per million population), risk of mortality (coronav...
Conference Paper
Full-text available
The novelty of this study consists in a multi-modality approach to scene classification, where image and audio complement each other in a process of deep late fusion. The approach is demonstrated on a difficult classification problem, consisting of two synchronised and balanced datasets of 16,000 data objects, encompassing 4.4 hours of video of 8 e...
Preprint
Full-text available
In this work, we present the Chatbot Interaction with Artificial Intelligence (CI-AI) framework as an approach to the training of deep learning chatbots for task classification. The intelligent system augments human-sourced data via artificial paraphrasing in order to generate a large set of training data for further classical, attention, and langu...
Conference Paper
Full-text available
Image-to-image translation is a computer vision problem where a task learns a mapping from a source domain A to a target domain B using a training set. However, this translation is not always accurate, and during the translation process, relevant semantic information can deteriorate. To handle this problem, we propose a new cycle-consistent, advers...
Conference Paper
Full-text available
We introduce rcGAN, a new generative method that is capable of synthesising arbitrary sized, high-resolution images derived from a single reference image used to train our model. Our two-steps method uses a randomly conditioned convolutional generative adversarial network (rcGAN) trained on patches obtained from a reference image. It can capture th...
Conference Paper
Full-text available
In recent years, goal-based reinforcement learning framework has become popular for solving robot manipulation tasks, especially when it comes to high dimensional dexterous in-hand manipulation. Hindsight Experience Replay (HER) has shown outstanding performance in solving multi-goal robot manipulation reinforcement learning problems when the rewar...
Conference Paper
Full-text available
Reinforcement learning for multi-goal robot manipulation tasks is usually challenging, especially when sparse rewards are provided. It often requires millions of data collected before a stable strategy is learned. Recent algorithms like Hindsight Experience Replay (HER) have accelerated the learning process greatly by replacing the original desired...
Article
Full-text available
In this work, we show that a late fusion approach to multimodality in sign language recognition improves the overall ability of the model in comparison to the singular approaches of image classification (88.14%) and Leap Motion data classification (72.73%). With a large synchronous dataset of 18 BSL gestures collected from multiple subjects, two de...
Article
Full-text available
Preliminary results to a new approach for neurocognitive training on academic engagement and monitoring of attention levels in children with learning difficulties is presented. Machine Learning (ML) techniques and a Brain-Computer Interface (BCI) are used to develop an interactive AI-based game for educational therapy to monitor the progress of chi...
Preprint
Full-text available
In this work, we show that a late fusion approach to multi-modality in sign language recognition improves the overall ability of the model in comparison to the singular approaches of Computer Vision (88.14%) and Leap Motion data classification (72.73%). With a large synchronous dataset of 18 BSL gestures collected from multiple subjects, two deep n...
Preprint
Full-text available
The novelty of this study consists in a multi-modality approach to scene classification, where image and audio complement each other in a process of deep late fusion. The approach is demonstrated on a difficult classification problem, consisting of two synchronised and balanced datasets of 16,000 data objects, encompassing 4.4 hours of video of 8 e...
Preprint
Full-text available
In speech recognition problems, data scarcity often poses an issue due to the willingness of humans to provide large amounts of data for learning and classification. In this work, we take a set of 5 spoken Harvard sentences from 7 subjects and consider their MFCC attributes. Using character level LSTMs (supervised learning) and OpenAI's attention-b...
Conference Paper
Full-text available
In this work, we show that both fine-tune learning and cross-domain sim-to-real transfer learning from virtual to real-world environments improve the starting and final scene classification abilities of a computer vision model. A 6-class computer vision problem of scene classification is presented from both videogame environments and photographs of...
Article
Full-text available
In this work, we argue that the implications of pseudorandom and quantum-random number generators (PRNG and QRNG) inexplicably affect the performances and behaviours of various machine learning models that require a random input. These implications are yet to be explored in soft computing until this work. We use a CPU and a QPU to generate random n...
Preprint
Full-text available
Deep networks are currently the state-of-the-art for sensory perception in autonomous driving and robotics. However, deep models often generate overconfident predictions precluding proper probabilistic interpretation which we argue is due to the nature of the SoftMax layer. To reduce the overconfidence without compromising the classification perfor...
Conference Paper
Full-text available
Autonomous speaker identification suffers issues of data scarcity due to it being unrealistic to gather hours of speaker audio to form a dataset, which inevitably leads to class imbalance in comparison to the large data availability from non-speakers since large-scale speech datasets are available online. In this study, we explore the possibility o...
Article
Recent advances in the availability of computational resources allow for more sophisticated approaches to speech recognition than ever before. This study considers Artificial Neural Network and Hidden Markov Model methods of classification for Human Speech Recognition through Diphthong Vowel sounds in the English Phonetic Alphabet rather than the c...
Article
Full-text available
Recent advances in the availability of computational resources allow for more sophisticated approaches to speech recognition than ever before. This study considers Artificial Neural Network and Hidden Markov Model methods of classification for Human Speech Recognition through Diphthong Vowel sounds in the English Phonetic Alphabet rather than the c...
Article
Full-text available
In this work, we show the success of unsupervised transfer learning between Electroencephalographic (brainwave) classification and Electromyographic (muscular wave) domains with both MLP and CNN methods. To achieve this, signals are measured from both the brain and forearm muscles and EMG data is gathered from a 4-class gesture classification exper...
Article
Full-text available
Datasets are essential to the development and evaluation of machine learning and artificial intelligence algorithms. As new tasks are addressed, new datasets are required. Training algorithms for human-aware navigation is an example of this need. Different factors make designing and gathering data for human-aware navigation datasets challenging. Fi...
Article
Full-text available
Modern service robots are provided with one or more sensors, often including RGB-D cameras, to perceive objects and humans in the environment. This paper proposes a new system for the recognition of human social activities from a continuous stream of RGB-D data. Many of the works until now have succeeded in recognising activities from clipped video...
Chapter
Full-text available
The implications of realistic human speech imitation are both promising but potentially dangerous. In this work, a pre-trained Tacotron Spectrogram Feature Prediction Network is fine tuned with two 1.6 h speech datasets for 100,000 learning iterations, producing two individual models. The two Speech datasets are completely identical in content othe...
Chapter
Full-text available
This work presents an image classification approach to EEG brainwave classification. The proposed method is based on the representation of temporal and statistical features as a 2D image, which is then classified using a deep Convolutional Neural Network. A three-class mental state problem is investigated, in which subjects experience either relaxa...
Chapter
Full-text available
We investigate a generative method that synthesises high-resolution images based on a single constraint source image. Our approach consists of three types of conditional deep convolutional generative adversarial networks (cDCGAN) that are trained to generate samples of an image patch conditional on the surrounding image regions. The cDCGAN discrimi...
Book
Full-text available
The range of Bayesian inference algorithms and their different applications has been greatly expanded since the first implementation of a Kalman filter by Stanley F. Schmidt for the Apollo program. Extended Kalman filters or particle filters are just some examples of these algorithms that have been extensively applied to logistics, medical services...
Article
Full-text available
In this work, we argue that the implications of Pseudo and Quantum Random Number Generators (PRNG and QRNG) inexplicably affect the performances and behaviours of various machine learning models that require a random input. These implications are yet to be explored in Soft Computing until this work. We use a CPU and a QPU to generate random numbers...
Preprint
Full-text available
In this work, we argue that the implications of Pseudo and Quantum Random Number Generators (PRNG and QRNG) inexplicably affect the performances and behaviours of various machine learning models that require a random input. These implications are yet to be explored in Soft Computing until this work. We use a CPU and a QPU to generate random numbers...
Preprint
Full-text available
Autonomous navigation is a key skill for assistive and service robots. To be successful, robots have to navigate avoiding going through the personal spaces of the people surrounding them. Complying with social rules such as not getting in the middle of human-to-human and human-to-object interactions is also important. This paper suggests using Grap...
Preprint
Full-text available
Adapting to social conventions is an unavoidable requirement for the acceptance of assistive and social robots. While the scientific community broadly accepts that assistive robots and social robot companions are unlikely to have widespread use in the near future, their presence in health-care and other medium-sized institutions is becoming a reali...
Conference Paper
Full-text available
This work presents an image classification approach to EEG brainwave classification. The proposed method is based on the representation of temporal and statistical features as a 2D image, which is then classified using a deep Convolutional Neural Network. A three-class mental state problem is investigated, in which subjects experience either relaxa...