We present a framework that allows an observer to determine occluded portions of a structure by finding the maximum-likelihood estimate of those occluded portions consistent with visible image evidence and a consistency model. Doing this requires determining which portions of the structure are occluded in the first place. Since each process relies on the other, we determine a solution to both problems in tandem. We extend our framework to determine confidence of one's assessment of which portions of an observed structure are occluded, and the estimate of that occluded structure, by determining the sensitivity of one's assessment to potential new observations. We further extend our framework to determine a robotic action whose execution would allow a new observation that would maximally increase one's confidence.

Logs of the interactions with a search engine show that users often reformulate their queries. Examining these reformulations shows that recommendations that precise the focus of a query are helpful, like those based on expansions of the original queries. But it also shows that queries that express some topical shift with respect to the original query can help user access more rapidly the information they need. We propose a method to identify from the query logs of past users queries that either focus or shift the initial query topic. This method combines various click-based, topic-based and session based ranking strategies and uses supervised learning in order to maximize the semantic similarities between the query and the recommendations, while at the same diversifying them. We evaluate our method using the query/click logs of a Japanese web search engine and we show that the combination of the three methods proposed is significantly better than any of them taken individually.

The common internal structure and algorithmic organization of object detection, detection-based tracking, and event recognition facilitates a general approach to integrating these three components. This supports multidirectional information flow between these components allowing object detection to influence tracking and event recognition and event recognition to influence tracking and object detection. The performance of the combination can exceed the performance of the components in isolation. This can be done with linear asymptotic complexity.

We present a system that produces sentential descriptions of video: who did what to whom, and where and how they did it. Action class is rendered as a verb, participant objects as noun phrases, properties of those objects as adjectival modifiers in those noun phrases,spatial relations between those participants as prepositional phrases, and characteristics of the event as prepositional-phrase adjuncts and adverbial modifiers. Extracting the information needed to render these linguistic entities requires an approach to event recognition that recovers object tracks, the track-to-role assignments, and changing body posture.

In information retrieval, a fundamental goal is to transform a document into concepts that are representative of its content. The term "representative" is in itself challenging to define, and various tasks require different granularities of concepts. In this paper, we aim to model concepts that are sparse over the vocabulary, and that flexibly adapt their content based on other relevant semantic information such as textual structure or associated image features. We explore a Bayesian nonparametric model based on nested beta processes that allows for inferring an unknown number of strictly sparse concepts. The resulting model provides an inherently different representation of concepts than a standard LDA (or HDP) based topic model, and allows for direct incorporation of semantic features. We demonstrate the utility of this representation on multilingual blog data and the Congressional Record.

Nonnegative matrix factorization (NMF) has become a very popular technique in machine learning because it automatically extracts meaningful features through a sparse and part-based representation. However, NMF has the drawback of being highly ill-posed, that is, there typically exist many different but equivalent factorizations. In this paper, we introduce a completely new way to obtaining more well-posed NMF problems whose solutions are sparser. Our technique is based on the preprocessing of the nonnegative input data matrix, and relies on the theory of M-matrices and the geometric interpretation of NMF. This approach provably leads to optimal and sparse solutions under the separability assumption of Donoho and Stodden (NIPS, 2003), and, for rank-three matrices, makes the number of exact factorizations finite. We illustrate the effectiveness of our technique on several image datasets.

The bioinformatical methods to detect lateral gene transfer events are mainly based on functional coding DNA characteristics. In this paper, we propose the use of DNA traits not depending on protein coding requirements. We introduce several semilocal variables that depend on DNA primary sequence and that reflect thermodynamic as well as physico-chemical magnitudes that are able to tell apart the genome of different organisms. After combining these variables in a neural classificator, we obtain results whose power of resolution go as far as to detect the exchange of genomic material between bacteria that are phylogenetically close.

Support vector machines (SVMs) naturally embody sparseness due to their use of hinge loss functions. However, SVMs can not directly estimate conditional class probabilities. In this paper we propose and study a family of coherence functions, which are convex and differentiable, as surrogates of the hinge function. The coherence function is derived by using the maximum-entropy principle and is characterized by a temperature parameter. It bridges the hinge function and the logit function in logistic regression. The limit of the coherence function at zero temperature corresponds to the hinge function, and the limit of the minimizer of its expected error is the minimizer of the expected error of the hinge loss. We refer to the use of the coherence function in large-margin classification as C-learning, and we present efficient coordinate descent algorithms for the training of regularized ${\cal C}$-learning models.

Nonnegative Matrix Factorization (NMF) is a widely used technique in many applications such as face recognition, motion segmentation, etc. It approximates the nonnegative data in an original high dimensional space with a linear representation in a low dimensional space by using the product of two nonnegative matrices. In many applications data are often partially corrupted with large additive noise. When the positions of noise are known, some existing variants of NMF can be applied by treating these corrupted entries as missing values. However, the positions are often unknown in many real world applications, which prevents the usage of traditional NMF or other existing variants of NMF. This paper proposes a Robust Nonnegative Matrix Factorization (RobustNMF) algorithm that explicitly models the partial corruption as large additive noise without requiring the information of positions of noise. In practice, large additive noise can be used to model outliers. In particular, the proposed method jointly approximates the clean data matrix with the product of two nonnegative matrices and estimates the positions and values of outliers/noise. An efficient iterative optimization algorithm with a solid theoretical justification has been proposed to learn the desired matrix factorization. Experimental results demonstrate the advantages of the proposed algorithm.

We argue for the value of publishing the exact code, configuration and data processing scripts used to produce empirical work in robotics. In particular, we recommend publishing a unique identifier for the code package in the paper itself, as a promise to the reader that this is the relavant code. We review some recent discussion of best practice for reproducibility in various professional organisations and journals, and discuss the current reward structure for publishing code in robotics, along with some ideas for improvement.