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Approaches studying the dynamics of resting-state functional magnetic resonance imaging (rs-fMRI) activity often focus on time-resolved functional connectivity (tr-FC). While many tr-FC approaches have been proposed, most are linear approaches, e.g. computing the linear correlation at a timestep or within a window. In this work, we propose to use a generative non-linear deep learning model, a disentangled variational autoencoder (DSVAE), that factorizes out window-specific (context) information from timestep-specific (local) information. This has the advantage of allowing our model to capture differences at multiple temporal scales. We find that by separating out temporal scales our model’s window-specific embeddings, or as we refer to them, context embeddings, more accurately separate windows from schizophrenia patients and control subjects than baseline models and the standard tr-FC approach in a low-dimensional space. Moreover, we find that for individuals with schizophrenia, our model’s context embedding space is significantly correlated with both age and symptom severity. Interestingly, patients appear to spend more time in three clusters, one closer to controls which shows increased visual-sensorimotor, cerebellar-subcortical, and reduced cerebellar-visual functional network connectivity (FNC), an intermediate station showing increased subcortical-sensorimotor FNC, and one that shows decreased visual-sensorimotor, decreased subcortical-sensorimotor, and increased visual-subcortical domains. We verify that our model captures features that are complementary to - but not the same as - standard tr-FC features. Our model can thus help broaden the neuroimaging toolset in analyzing fMRI dynamics and shows potential as an approach for finding psychiatric links that are more sensitive to individual and group characteristics. 

Soccer kicking is a complex whole-body motion that requires intricate coordination of various motor actions. To accomplish such dynamic motion in a humanoid robot, the robot needs to simultaneously: 1) transfer high kinetic energy to the kicking leg, 2) maintain balance and stability of the entire body, and 3) manage the impact disturbance from the ball during the kicking moment. Prior studies on robotic soccer kicking often prioritized stability, leading to overly conservative quasistatic motions. In this work, we present a biomechanics-inspired control framework that leverages trajectory optimization and imitation learning to facilitate highly dynamic soccer kicks in humanoid robots. We conducted an in-depth analysis of human soccer kick biomechanics to identify key motion constraints. Based on this understanding, we designed kinodynamically feasible trajectories that are then used as a reference in imitation learning to develop a robust feedback control policy. We demonstrate the effectiveness of our approach through a simulation of an anthropomorphic 25 DoF bipedal humanoid robot, named PresToe, which is equipped with 7 DoF legs, including a unique actuated toe. Using our framework, PresToe can execute dynamic instep kicks, propelling the ball at speeds exceeding 11 m/s in full dynamics simulation.