Analogy is a key solution to automated music generation, featured by its ability to generate both natural and creative pieces based on only a few examples. In general, an analogy is made by partially transferring the music abstractions, i.e., high-level representations and their relationships, from one piece to another; however, this procedure requires disentangling music representations, which takes little effort for musicians but is non-trivial for computers. Three sub-problems arise: extracting latent representations from the observation, disentangling the representations so that each part has a unique semantic interpretation, and mapping the latent representations back to actual music. An explicitly-constrained conditional variational auto-encoder (EC2-VAE) is proposed as a unified solution to all three sub-problems. In this study, we focus on disentangling the pitch and rhythm representations of 8-beat music clips conditioned on chords. In producing music analogies, this model helps us to realize the imaginary situation of "what if" a piece is composed using a different pitch contour, rhythm pattern, chord progression etc., by borrowing the representations from other pieces. Finally, we validate the proposed disentanglement method using objective measurements and evaluate the analogy examples by a subjective study.

This paper presents design principles for comfort-centered wearable robots and their application in a lightweight and backdrivable knee exoskeleton. The mitigation of discomfort is treated as mechanical design and control issues and three solutions are proposed in this paper: 1) a new wearable structure optimizes the strap attachment configuration and suit layout to ameliorate excessive shear forces of conventional wearable structure design; 2) rolling knee joint and double-hinge mechanisms reduce the misalignment in the sagittal and frontal plane, without increasing the mechanical complexity and inertia, respectively; 3) a low impedance mechanical transmission reduces the reflected inertia and damping of the actuator to human, thus the exoskeleton is highly-backdrivable. Kinematic simulations demonstrate that misalignment between the robot joint and knee joint can be reduced by 74% at maximum knee flexion. In experiments, the exoskeleton in the unpowered mode exhibits 1.03 Nm root mean square (RMS) low resistive torque. The torque control experiments demonstrate 0.31 Nm RMS torque tracking error in three human subjects.

Techniques for automatically designing deep neural network architectures such as reinforcement learning based approaches have recently shown promising results. However, their success is based on vast computational resources (e.g. hundreds of GPUs), making them difficult to be widely used. A noticeable limitation is that they still design and train each network from scratch during the exploration of the architecture space, which is highly inefficient. In this paper, we propose a new framework toward efficient architecture search by exploring the architecture space based on the current network and reusing its weights. We employ a reinforcement learning agent as the meta-controller, whose action is to grow the network depth or layer width with function-preserving transformations. As such, the previously validated networks can be reused for further exploration, thus saves a large amount of computational cost. We apply our method to explore the architecture space of the plain convolutional neural networks (no skip-connections, branching etc.) on image benchmark datasets (CIFAR-10, SVHN) with restricted computational resources (5 GPUs). Our method can design highly competitive networks that outperform existing networks using the same design scheme. On CIFAR-10, our model without skip-connections achieves 4.23% test error rate, exceeding a vast majority of modern architectures and approaching DenseNet. Furthermore, by applying our method to explore the DenseNet architecture space, we are able to achieve more accurate networks with fewer parameters.