Value iteration is a popular algorithm for finding near optimal policies for POMDPs. It is inefficient due to the need to account for the entire belief space, which necessitates the solution of large numbers of linear programs. In this paper, we study value iteration restricted to belief subsets. We show that, together with properly chosen belief subsets, restricted value iteration yields near-optimal policies and we give a condition for determining whether a given belief subset would bring about savings in space and time. We also apply restricted value iteration to two interesting classes of POMDPs, namely informative POMDPs and near-discernible POMDPs.

Standard value function approaches to finding policies for Partially Observable Markov Decision Processes (POMDPs) are generally considered to be intractable for large models. The intractability of these algorithms is to a large extent a consequence of computing an exact, optimal policy over the entire belief space. However, in real-world POMDP problems, computing the optimal policy for the full belief space is often unnecessary for good control even for problems with complicated policy classes. The beliefs experienced by the controller often lie near a structured, low-dimensional subspace embedded in the high-dimensional belief space. Finding a good approximation to the optimal value function for only this subspace can be much easier than computing the full value function. We introduce a new method for solving large-scale POMDPs by reducing the dimensionality of the belief space. We use Exponential family Principal Components Analysis (Collins, Dasgupta & Schapire, 2002) to represent sparse, high-dimensional belief spaces using small sets of learned features of the belief state. We then plan only in terms of the low-dimensional belief features. By planning in this low-dimensional space, we can find policies for POMDP models that are orders of magnitude larger than models that can be handled by conventional techniques. We demonstrate the use of this algorithm on a synthetic problem and on mobile robot navigation tasks.

To understand the brain mechanisms involved in reward prediction on different time scales, we developed a Markov decision task that requires prediction of both immediate and future rewards, and analyzed subjects' brain activities using functional MRI. We estimated the time course of reward prediction and reward prediction error on different time scales from subjects' performance data, and used them as the explanatory variables for SPM analysis. We found topographic maps of different time scales in medial frontal cortex and striatum. The result suggests that different cortico-basal ganglia loops are specialized for reward prediction on different time scales.

We present a novel connectionist model for acquiring the semantics of a simple language through the behavioral experiences of a real robot. We focus on the "compositionality" of semantics, a fundamental characteristic ofhuman language, which is the ability to understand the meaning of a sentence as a combination of the meanings of words. We also pay much attention to the "embodiment" of a robot, which means that the robot should acquire semantics which matches its body, or sensory-motor system. The essential claim is that an embodied compositional semantic representation can be self-organized from generalized correspondences between sentences and behavioral patterns. This claim is examined and confirmed through simple experiments in which a robot generates corresponding behaviorsfrom unlearned sentences by analogy with the correspondences betweenlearned sentences and behaviors.

We propose an information-theoretic clustering approach that incorporates a pre-known partition of the data, aiming to identify common clusters that cut across the given partition. In the standard clustering setting the formation of clusters is guided by a single source of feature information. The newly utilized pre-partition factor introduces an additional bias that counterbalances the impact of the features whenever they become correlated with this known partition. The resulting algorithmic framework was applied successfully to synthetic data, as well as to identifying text-based cross-religion correspondences.

This paper presents VLSI circuits with continuous-valued probabilistic behaviour realized by injecting noise into each computing unit(neuron). Interconnecting the noisy neurons forms a Continuous Restricted Boltzmann Machine (CRBM), which has shown promising performance in modelling and classifying noisy biomedical data.

To understand the brain mechanisms involved in reward prediction on different time scales, we developed a Markov decision task that requires prediction of both immediate and future rewards, and analyzed subjects' brain activities using functional MRI. We estimated the time course of reward prediction and reward prediction error on different time scales from subjects' performance data, and used them as the explanatory variables for SPM analysis. We found topographic maps of different time scales in medial frontal cortex and striatum. The result suggests that different cortico-basal ganglia loops are specialized for reward prediction on different time scales.

A mixed-signal image filtering VLSI has been developed aiming at real-time generation of edge-based image vectors for robust image recognition. A four-stage asynchronous median detection architecture based on analog digital mixed-signal circuits has been introduced to determine the threshold value of edge detection, the key processing parameter in vector generation. As a result, a fully seamless pipeline processing from threshold detection to edge feature map generation has been established. A prototype chip was designed in a 0.35-µm double-polysilicon three-metal-layer CMOS technology and the concept was verified by the fabricated chip. The chip generates a 64-dimension feature vector from a 64x64-pixel gray scale image every 80µsec.

We present a unified view for online classification, regression, and uniclass problems. This view leads to a single algorithmic framework for the three problems. We prove worst case loss bounds for various algorithms for both the realizable case and the non-realizable case. A conversion of our main online algorithm to the setting of batch learning is also discussed. The end result is new algorithms and accompanying loss bounds for the hinge-loss.

The problem of "Structure From Motion" is a central problem in vision: given the 2D locations of certain points we wish to recover the camera motion and the 3D coordinates of the points. Under simplified camera models, the problem reduces to factorizing a measurement matrix into the product of two low rank matrices. Each element of the measurement matrix contains the position of a point in a particular image. When all elements are observed, the problem can be solved trivially using SVD, but in any realistic situation many elements of the matrix are missing and the ones that are observed have a different directional uncertainty. Under these conditions, most existing factorization algorithms fail while human perception is relatively unchanged. In this paper we use the well known EM algorithm for factor analysis to perform factorization. This allows us to easily handle missing data and measurement uncertainty and more importantly allows us to place a prior on the temporal trajectory of the latent variables (the camera position). We show that incorporating this prior gives a significant improvement in performance in challenging image sequences.