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Human locomotion and activity recognition systems form a critical part in a robot's ability to safely and effectively operate in a environment populated with human end users. Previous work in this area relies upon strong assumptions about the labels in the training data; e.g. that are noise-free and that they exist at all. Our approach does not predefine the relevant behaviours or their number, as both are learned directly from observations, similar to real-world human-robot interactions, where labels are neither available. Instead we introduce models that make no assumptions about the state space, by presenting a fully unsupervised nonparametric Bayesian recognition approach, in which we leverage recent advances in state space modelling with automatic inference using probabilistic programming. We demonstrate the utility of full model optimisation using Bayesian optimisation and validate our approach on several challenging problems, using different feature modalities.

There is urgent need for non-intrusive tests that can detect early signs of Parkinson's disease (PD), a debilitating neurodegenerative disorder that affects motor control. Recent promising research has focused on disease markers evident in the fine-motor behaviour of typing. Most work to date has focused solely on the timing of keypresses without reference to the linguistic content. In this paper we argue that the identity of the key combinations being produced should impact how they are handled by people with PD, and provide evidence that natural language processing methods can thus be of help in identifying signs of disease. We test the performance of a bidirectional LSTM with convolutional features in distinguishing people with PD from agematched controls typing in English and Spanish, both in clinics and online. 1 (a) Classification: PwPD (b) Classification: Control

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