Extreme Learning Machine (ELM) as a fast and efficient neural network model in pattern recognition and machine learning will decline when the labeled training sample is insufficient. Transfer learning helps the target task to learn a reliable model by using plentiful labeled samples from the different but relevant domain. In this paper, we propose a supervised Extreme Learning Machine with knowledge transferability, called Transfer Extreme Learning Machine with Output Weight Alignment (TELM-OWA). Firstly, it reduces the distribution difference between domains by aligning the output weight matrix of the ELM trained by the labeled samples from the source and target domains. Secondly, the approximation between the interdomain ELM output weight matrix is added to the objective function to further realize the cross-domain transfer of knowledge. Thirdly, we consider the objective function as the least square problem and transform it into a standard ELM model to be efficiently solved. Finally, the effectiveness of the proposed algorithm is verified by classification experiments on 16 sets of image datasets and 6 sets of text datasets, and the result demonstrates the competitive performance of our method with respect to other ELM models and transfer learning approach.

Unsupervised Domain Adaptation (UDA) aims to leverage the knowledge from the labeled source domain to help the task of target domain with the unlabeled data. It is a key step for UDA to minimize the cross-domain distribution divergence. In this paper, we firstly propose a novel discrepancy metric, referred to as Cross Domain Mean Approximation (CDMA) discrepancy, to evaluate the distribution differences between source and target domains, which calculate the sum of the squares of the distances from the source and target domains to the mean of the other domain. Secondly, Joint Distribution Adaptation based on Cross Domain Mean Approximation (JDA-CDMA) is developed on the basis of CDMA to extract shared feature and simultaneously reduce the marginal and conditional distribution discrepancy between domains during the label refinement process. Thirdly, we construct a classifier utilizing CDMA metric and neighbor information. Finally, the proposed feature extraction approach and classifier are combined to realize transfer learning. Results from extensive experiments on five visual benchmarks including object, face, and digit images, show the proposed methods outperform the state-of-the-art unsupervised domain adaptation. I. INTRODUCTION I N machine vision, many machine learning methods, such as Linear Regression [1], Logistic Regression (LR) [2], k-Nearest Neighbor (k-NN) [3], Bayesian [4], Decision Tree [5], and Support Vector Machine (SVM)[6], are applied to image classification tasks. However, when the image feature representation is too redundant or poor in quality, their accuracy will be lowered. Therefore, it is of great importance to extract high-quality image feature. Feature extraction, as an important manner of mining image latent knowledge, is not only conducive to the in-depth understanding of image content, but also crucial to improve the accuracy of image classification and recognition [7]. Consequently it has attracted much attention from researchers. Principal Component Analysis (PCA) [8], Independent Component Analysis (ICA) [9], Linear Discriminant Analysis (LDA) [10], Maximum Margin Criterion (MMC) [11] and other algorithms are often used for feature extraction. In order to discover the nonlinear structure hidden in the high dimensional data and mine the local geometric structure information of data, Laplacian Eigen-maps (LE) [12], Locality Linear Embedding

In this study, a new method of smooth path planning is proposed based on Bezier curves and is applied to solve the problem of redundant nodes and peak inflection points in the path planning process of traditional algorithms. First, genetic operations are used to obtain the control points of the Bezier curve. Second, a shorter path is selected by an optimization criterion that the length of the Bezier curve is determined by the control points. Finally, a safe distance and adaptive penalty factor are introduced into the fitness function to ensure the safety of the walking process of the robot. Numerous experiments are implemented in two different environments and compared with the existing methods. It is proved that the proposed method is more effective to generate a shorter, smoother, and safer path compared with traditional approaches.

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