We examine the problem of generating state-space compressions of POMDPs in a way that minimally impacts decision quality. We analyze the impact of compressions on decision quality, observing that compressions that allow accurate policy evaluation (prediction of expected future reward) will not affect decision quality. We derive a set of sufficient conditions that ensure accurate prediction in this respect, illustrate interesting mathematical properties these confer on lossless linear compressions, and use these to derive an iterative procedure for finding good linear lossy compressions. We also elaborate on how structured representations of a POMDP can be used to find such compressions.

Given is a problem sequence and a probability distribution (the bias) on programs computing solution candidates. We present an optimally fast way of incrementally solving each task in the sequence. Bias shifts are computed by program prefixes that modify the distribution on their suffixes by reusing successful code for previous tasks (stored in non-modifiable memory). No tested program gets more runtime than its probability times the total search time.

We develop a systems theoretical treatment of a behavioural system that interacts with its environment in a closed loop situation such that its motor actions influence its sensor inputs. The simplest form of a feedback is a reflex. Reflexes occur always "too late"; i.e., only after a (unpleasant, painful, dangerous) reflex-eliciting sensor event has occurred. This defines an objective problem which can be solved if another sensor input exists which can predict the primary reflex and can generate an earlier reaction. In contrast to previous approaches, our linear learning algorithm allows for an analytical proof that this system learns to apply feedforward control with the result that slow feedback loops are replaced by their equivalent feed-forward controller creating a forward model. In other words, learning turns the reactive system into a proactive system. By means of a robot implementation we demonstrate the applicability of the theoretical results which can be used in a variety of different areas in physics and engineering.

Many control problems take place in continuous state-action spaces, e.g., as in manipulator robotics, where the control objective is often defined as finding a desired trajectory that reaches a particular goal state. While reinforcement learning offers a theoretical framework to learn such control policies from scratch, its applicability to higher dimensional continuous state-action spaces remains rather limited to date. Instead of learning from scratch, in this paper we suggest to learn a desired complex control policy by transforming an existing simple canonical control policy. For this purpose, we represent canonical policies in terms of differential equations with well-defined attractor properties. By nonlinearly transforming the canonical attractor dynamics using techniques from nonparametric regression, almost arbitrary new nonlinear policies can be generated without losing the stability properties of the canonical system. We demonstrate our techniques in the context of learning a set of movement skills for a humanoid robot from demonstrations of a human teacher. Policies are acquired rapidly, and, due to the properties of well formulated differential equations, can be reused and modified online under dynamic changes of the environment. The linear parameterization of nonparametric regression moreover lends itself to recognize and classify previously learned movement skills.

The problem of learning a semantic representation of a text document from data is addressed, in the situation where a corpus of unlabeled paired documents is available, each pair being formed by a short English document and its French translation. This representation can then be used for any retrieval, categorization or clustering task, both in a standard and in a cross-lingual setting. By using kernel functions, in this case simple bag-of-words inner products, each part of the corpus is mapped to a high-dimensional space. The correlations between the two spaces are then learnt by using kernel Canonical Correlation Analysis. A set of directions is found in the first and in the second space that are maximally correlated. Since we assume the two representations are completely independent apart from the semantic content, any correlation between them should reflect some semantic similarity. Certain patterns of English words that relate to a specific meaning should correlate with certain patterns of French words corresponding to the same meaning, across the corpus. Using the semantic representation obtained in this way we first demonstrate that the correlations detected between the two versions of the corpus are significantly higher than random, and hence that a representation based on such features does capture statistical patterns that should reflect semantic information. Then we use such representation both in cross-language and in single-language retrieval tasks, observing performance that is consistently and significantly superior to LSI on the same data.

We present an algorithm to extract features from high-dimensional gene expression profiles, based on the knowledge of a graph which links together genes known to participate to successive reactions in metabolic pathways. Motivated by the intuition that biologically relevant features are likely to exhibit smoothness with respect to the graph topology, the algorithm involves encoding the graph and the set of expression profiles into kernel functions, and performing a generalized form of canonical correlation analysis in the corresponding reproducible kernel Hilbert spaces. Function prediction experiments for the genes of the yeast S. Cerevisiae validate this approach by showing a consistent increase in performance when a state-of-the-art classifier uses the vector of features instead of the original expression profile to predict the functional class of a gene.

We introduce a class of string kernels, called mismatch kernels, for use with support vector machines (SVMs) in a discriminative approach to the protein classification problem.

We consider data which are images containing views of multiple objects. Our task is to learn about each of the objects present in the images. This task can be approached as a factorial learning problem, where each image must be explained by instantiating a model for each of the objects present with the correct instantiation parameters. A major problem with learning a factorial model is that as the number of objects increases, there is a combinatorial explosion of the number of configurations that need to be considered. We develop a method to extract object models sequentially from the data by making use of a robust statistical method, thus avoiding the combinatorial explosion, and present results showing successful extraction of objects from real images.

This paper presents a kernel method that allows to combine color and shape information for appearance-based object recognition. It doesn't require to define a new common representation, but use the power of kernels to combine different representations together in an effective manner. These results are achieved using results of statistical mechanics of spin glasses combined with Markov random fields via kernel functions. Experiments show an increase in recognition rate up to 5.92% with respect to conventional strategies.

We address the question of feature selection in the context of visual recognition. It is shown that, besides efficient from a computational standpoint, the infomax principle is nearly optimal in the minimum Bayes error sense. The concept of marginal diversity is introduced, leading to a generic principle for feature selection (the principle of maximum marginal diversity) of extreme computational simplicity. The relationships between infomax and the maximization of marginal diversity are identified, uncovering the existence of a family of classification procedures for which near optimal (in the Bayes error sense) feature selection does not require combinatorial search. Examination of this family in light of recent studies on the statistics of natural images suggests that visual recognition problems are a subset of it.