Title: Fast, Robust, and Versatile Event Detection through HMM Belief State Gradient Measures,
Abstract: Event detection is a critical feature in data-driven systems as it assists
with the identification of nominal and anomalous behavior. Event detection is
increasingly relevant in robotics as robots operate with greater autonomy in
increasingly unstructured environments. In this work, we present an accurate,
robust, fast, and versatile measure for skill and anomaly identification. A
theoretical proof establishes the link between the derivative of the
log-likelihood of the HMM filtered belief state and the latest emission
probabilities. The key insight is the inverse relationship in which gradient
analysis is used for skill and anomaly identification. Our measure showed
better performance across all metrics than related state-of-the art works. The
result is broadly applicable to domains that use HMMs for event detection.