We consider the problem of learning a grid-based map using a robot with noisy sensors and actuators. We compare two approaches: online EM, where the map is treated as a fixed parameter, and Bayesian inference, where the map is a (matrix-valued) random variable. We show that even on a very simple example, online EM can get stuck in local minima, which causes the robot to get "lost" and the resulting map to be useless. By contrast, the Bayesian approach, by maintaining multiple hypotheses, is much more robust. Wethen introduce a method for approximating the Bayesian solution, called Rao-Blackwellised particle filtering. We show that this approximation, when coupled with an active learning strategy, is fast but accurate.

The model, an early selection filter guided by top-down attentional control, entertains each candidate output class in sequence and adjusts attentional gain coefficients in order to produce a strong response for that class.

In particular, Mackay showed that by approximating the distributions of the weights with Gaussians and adopting smoothing priors, it is possible to obtain estimates of the weights and output variances and to automatically set the regularisation coefficients.Neal (1996) cast the net much further by introducing advanced Bayesian simulation methods, specifically the hybrid Monte Carlo method, into the analysis of neural networks [3]. Bayesian sequential Monte Carlo methods have also been shown to provide good training results, especially in time-varying scenarios [4]. More recently, Rios Insua and Muller (1998) and Holmes and Mallick (1998) have addressed the issue of selecting the number of hidden neurons with growing and pruning algorithms from a Bayesian perspective [5,6]. In particular, they apply the reversible jump Markov Chain Monte Carlo (MCMC) algorithm of Green [7] to feed-forward sigmoidal networks and radial basis function (RBF) networks to obtain joint estimates of the number of neurons and weights.

Simply changing the potential function allows one to create new algorithms related toAdaBoost. However, these new algorithms are generally not known to have the formal boosting property. This paper examines thequestion of which potential functions lead to new algorithms thatare boosters. The two main results are general sets of conditions on the potential; one set implies that the resulting algorithm is a booster, while the other implies that the algorithm is not. These conditions are applied to previously studied potential functions, such as those used by LogitBoost and Doom II. 1 Introduction The first boosting algorithm appeared in Rob Schapire's thesis [1].

In hyperspectral imagery one pixel typically consists of a mixture of the reflectance spectra of several materials, where the mixture coefficients correspond to the abundances of the constituting materials. Weassume linear combinations of reflectance spectra with some additive normal sensor noise and derive a probabilistic MAP framework for analyzing hyperspectral data. As the material reflectance characteristicsare not know a priori, we face the problem of unsupervised linear unmixing.

By thinking of each state in a hidden Markov model as corresponding to some spatial region of a fictitious topology space it is possible to naturally define neighbouring statesas those which are connected in that space. The transition matrix can then be constrained to allow transitions only between neighbours; this means that all valid state sequences correspond to connected paths in the topology space. I show how such constrained HMMs can learn to discover underlying structure in complex sequences of high dimensional data, and apply them to the problem of recovering mouth movements from acoustics in continuous speech.

Suppose there exists a function y* fo(x) from which we observe the measurements corrupted with noise ((Xl,YI)," .

Gaussian Processes are powerful regression models specified by parametrized mean and covariance functions. Standard approaches to estimate these parameters (known by the name Hyperparameters) areMaximum Likelihood (ML) and Maximum APosterior (MAP) approaches. In this paper, we propose and investigate predictive approaches,namely, maximization of Geisser's Surrogate Predictive Probability (GPP) and minimization of mean square error withrespect to GPP (referred to as Geisser's Predictive mean square Error (GPE)) to estimate the hyperparameters. We also derive results for the standard Cross-Validation (CV) error and make a comparison. These approaches are tested on a number of problems and experimental results show that these approaches are strongly competitive to existing approaches. 1 Introduction Gaussian Processes (GPs) are powerful regression models that have gained popularity recently,though they have appeared in different forms in the literature for years.

The speech waveform can be modelled as a piecewise-stationary linear stochastic state space system, and its parameters can be estimated using an expectation-maximisation (EM) algorithm. One problem is the initialisation ofthe EM algorithm. Standard initialisation schemes can lead to poor formant trajectories. But these trajectories however are important forvowel intelligibility. The aim of this paper is to investigate the suitability of subspace identification methods to initialise EM. The paper compares the subspace state space system identification (4SID) method with the EM algorithm. The 4SID and EM methods are similar in that they both estimate a state sequence (but using Kalman filters andKalman smoothers respectively), and then estimate parameters (but using least-squares and maximum likelihood respectively).

We provide preliminary evidence that eXlstmg algorithms for inferring small-scale gene regulation networks from gene expression data can be adapted to large-scale gene expression data coming from hybridization microarrays. The essential steps are (1) clustering many genes by their expression time-course data into a minimal set of clusters of co-expressed genes, (2) theoretically modeling the various conditions under which the time-courses are measured using a continious-time analog recurrent neural network for the cluster mean time-courses, (3) fitting such a regulatory model to the cluster mean time courses by simulated annealing with weight decay, and (4) analysing several such fits for commonalities in the circuit parameter sets including the connection matrices. This procedure can be used to assess the adequacy of existing and future gene expression time-course data sets for determ ining transcriptional regulatory relationships such as coregulation.