The RoboCup@Home league has been founded in 2006with the idea to drive research in AI and related fieldstowards autonomous and interactive robots that copewith real life tasks in supporting humans in everday life.The yearly competition format establishes benchmarkingas a continuous process with yearly changes insteadof a single challenge. We discuss the current state andfuture perspectives of this endeavor.

Topic models remain a black box both for modelers and for end users in many respects. From the modelers' perspective, many decisions must be made which lack clear rationales and whose interactions are unclear — for example, how many topics the algorithms should find (K), which words to ignore (aka the "stop list"), and whether it is adequate to run the modeling process once or multiple times, producing different results due to the algorithms that approximate the Bayesian priors. Furthermore, the results of different parameter settings are hard to analyze, summarize, and visualize, making model comparison difficult. From the end users' perspective, it is hard to understand why the models perform as they do, and information-theoretic similarity measures do not fully align with humanistic interpretation of the topics. We present the Topic Explorer, which advances the state-of-the-art in topic model visualization for document-document and topic-document relations. It brings topic models to life in a way that fosters deep understanding of both corpus and models, allowing users to generate interpretive hypotheses and to suggest further experiments. Such tools are an essential step toward assessing whether topic modeling is a suitable technique for AI and cognitive modeling applications.

Cyber-Physical Production Systems (CPPSs) are in the focus of research, industry and politics: By applying new IT and new computer science solutions, production systems will become more adaptable, more resource ef- ficient and more user friendly. The analysis and diagnosis of such systems is a major part of this trend: Plants should detect automatically wear, faults and suboptimal configurations. This paper reflects the current state-of- the-art in diagnosis against the requirements of CPPSs, identifies three main gaps and gives application scenarios to outline first ideas for potential solutions to close these gaps.

Our paper is actually two contributions in one. First, we argue that IBM's Jeopardy! playing machine needs a formal semantics. We present several arguments as we discuss the system. We also situate the work in the broader context of contemporary AI. Our second point is that the work in this area might well be done as a broad collaborative project. Hence our "Blue Sky'' contribution is a proposal to organize a polymath-style effort aimed at developing formal tools for the study of state of the art question-answer systems, and other large scale NLP efforts whose architectures and algorithms lack a theoretical foundation.

Recent advances in Symbolic Dynamic Programming (SDP) combined withthe extended algebraic decision diagram (XADD) have provided exactsolutions for expressive subclasses of finite-horizon Hybrid MarkovDecision Processes (HMDPs) with mixed continuous and discrete stateand action parameters. Unfortunately, SDP suffers from two majordrawbacks: (1) it solves for all states and can be intractable formany problems that inherently have large optimal XADD value functionrepresentations; and (2) it cannot maintain compact (pruned) XADDrepresentations for domains with nonlinear dynamics and reward due tothe need for nonlinear constraint checking. In this work, wesimultaneously address both of these problems by introducing real-timeSDP (RTSDP). RTSDP addresses (1) by focusing the solution and valuerepresentation only on regions reachable from a set of initial statesand RTSDP addresses (2) by using visited states as witnesses ofreachable regions to assist in pruning irrelevant or unreachable(nonlinear) regions of the value function. To this end, RTSDP enjoysprovable convergence over the set of initial states and substantialspace and time savings over SDP as we demonstrate in a variety of hybrid domains ranging from inventory to reservoir to traffic control.

Learning from imbalanced data sets is one of the challenging problems in machine learning, which means the number of negative examples is far more than that of positive examples. The main problems of existing methods are: (1) The degree of re-sampling, a key factor greatly affecting performance, needs to be pre-fixed, which is difficult to make the optimal choice; (2) Many useful negative samples are discarded in under-sampling; (3) The effectiveness of algorithm-level methods are limited because they just use the original training data for single classifier. To address the above issues, a novel approach of adaptive sampling with optimal cost is proposed for class-imbalance learning in this paper. The novelty of the proposed approach mainly lies in: adaptively over-sampling the minority positive examples and under-sampling the majority negative examples, forming different sub-classifiers by different subsets of training data with the best cost ratio adaptively chosen, and combining these sub-classifiers according to their accuracy to create a strong classifier. It aims to make full use of the whole training data and improve the performance of class-imbalance learning classifier. The solid experiments are conducted to compare the performance between the proposed approach and 12 state-of-the-art methods on challenging 16 UCI data sets on 3 evaluation metrics, and the results show the proposed approach can achieve superior performance in class-imbalance learning.

Reinforcement learning (RL) is a common paradigm for learning tasks in robotics. However, a lot of exploration is usually required, making RL too slow for high-level tasks. We present V-MIN, an algorithm that integrates teacher demonstrations with RL to learn complex tasks faster. The algorithm combines active demonstration requests and autonomous exploration to find policies yielding rewards higher than a given threshold Vmin. This threshold sets the degree of quality with which the robot is expected to complete the task, thus allowing the user to either opt for very good policies that require many learning experiences, or to be more permissive with sub-optimal policies that are easier to learn. The threshold can also be increased online to force the system to improve its policies until the desired behavior is obtained. Furthermore, the algorithm generalizes previously learned knowledge, adapting well to changes. The performance of V-MIN has been validated through experimentation, including domains from the international planning competition. Our approach achieves the desired behavior where previous algorithms failed.

In this paper, we address the problem of large-scale multi-view spectral clustering. In many real-world applications, data can be represented in various heterogeneous features or views. Different views often provide different aspects of information that are complementary to each other. Several previous methods of clustering have demonstrated that better accuracy can be achieved using integrated information of all the views than just using each view individually. One important class of such methods is multi-view spectral clustering, which is based on graph Laplacian. However, existing methods are not applicable to large-scale problem for their high computational complexity. To this end, we propose a novel large-scale multi-view spectral clustering approach based on the bipartite graph. Our method uses local manifold fusion to integrate heterogeneous features. To improve efficiency, we approximate the similarity graphs using bipartite graphs. Furthermore, we show that our method can be easily extended to handle the out-of-sample problem. Extensive experimental results on five benchmark datasets demonstrate the effectiveness and efficiency of the proposed method, where our method runs up to nearly 3000 times faster than the state-of-the-art methods.

The global financial crisis occurred in 2008 and its contagion to other regions, as well as the long-lasting impact on different markets, show that it is increasingly important to understand the complicated coupling relationships across financial markets. This is indeed very difficult as complex hidden coupling relationships exist between different financial markets in various countries, which are very hard to model. The couplings involve interactions between homogeneous markets from various countries (we call intra-market coupling), interactions between heterogeneous markets (inter-market coupling) and interactions between current and past market behaviors (temporal coupling). Very limited work has been done towards modeling such complex couplings, whereas some existing methods predict market movement by simply aggregating indicators from various markets but ignoring the inbuilt couplings. As a result, these methods are highly sensitive to observations, and may often fail when financial indicators change slightly. In this paper, a coupled deep belief network is designed to accommodate the above three types of couplings across financial markets. With a deep-architecture model to capture the high-level coupled features, the proposed approach can infer market trends. Experimental results on data of stock and currency markets from three countries show that our approach outperforms other baselines, from both technical and business perspectives.

Most word embedding models typically represent each word using a single vector, which makes these models indiscriminative for ubiquitous homonymy and polysemy. In order to enhance discriminativeness, we employ latent topic models to assign topics for each word in the text corpus, and learn topical word embeddings (TWE) based on both words and their topics. In this way, contextual word embeddings can be flexibly obtained to measure contextual word similarity. We can also build document representations, which are more expressive than some widely-used document models such as latent topic models. In the experiments, we evaluate the TWE models on two tasks, contextual word similarity and text classification. The experimental results show that our models outperform typical word embedding models including the multi-prototype version on contextual word similarity, and also exceed latent topic models and other representative document models on text classification.