We study path planning on grids with blocked and unblocked cells. Any-angle path-planning algorithms find short paths fast because they propagate information along grid edges without constraining the resulting paths to grid edges. Incremental path-planning algorithms solve a series of similar path-planning problems faster than repeated single-shot searches because they reuse information from the previous search to speed up the next one. In this paper, we combine these ideas by making the any-angle path-planning algorithm Basic Theta* incremental. This is non-trivial because Basic Theta* does not fit the standard assumption that the parent of a vertex in the search tree must also be its neighbor. We present Incremental Phi* and show experimentally that it can speed up Basic Theta* by about one order of magnitude for path planning with the freespace assumption.

Multi-class problems have a richer structure than binary classification problems. Thus, they can potentially improve their performance by exploiting the relationship among class labels. While for the purposes of providing an automated classification result this class structure does not need to be explicitly unveiled, for human level analysis or interpretation this is valuable. We develop a multi-class large margin classifier that extracts and takes advantage of class relationships. We provide a bi-convex formulation that explicitly learns a matrix that captures these class relationships and is de-coupled from the feature weights. Our representation can take advantage of the class structure to compress the model by reducing the number of classifiers employed, maintaining high accuracy even with large compression. In addition, we present an efficient formulation in terms of speed and memory.

Recently graph based dimensionality reduction has received a lot of interests in many fields of information processing. Central to it is a graph structure which models the geometrical and discriminant structure of the data manifold. When label information is available, it is usually incorporated into the graph structure by modifying the weights between data points. In this paper, we propose a novel dimensionality reduction algorithm, called Constrained Graph Embedding, which considers the label information as additional constraints. Specifically, we constrain the space of the solutions that we explore only to contain embedding results that are consistent with the labels. Experimental results on two real life data sets illustrate the effectiveness of our proposed method.

Voting is a simple mechanism to aggregate the preferences of agents. Many voting rules have been shown to be NP-hard to manipulate. However, a number of recent theoretical results suggest that this complexity may only be in the worst-case since manipulation is often easy in practice. In this paper, we show that empirical studies are useful in improving our understanding of this issue. We demonstrate that there is a smooth transition in the probability  that a coalition can elect a desired candidate using the veto rule as the size of  the manipulating coalition increases. We show that a rescaled probability curve displays a simple and universal form independent of the size of the problem. We argue that manipulation of the veto rule is asymptotically easy for many independent and identically distributed votes even when the coalition of manipulators is critical in size.  Based on this argument, we identify a situation in which manipulation is computationally hard. This is when votes are highly correlated and the election is "hung." We show, however, that even a single uncorrelated voter is enough to make manipulation easy again.

We present and analyze coalitional affinity games, a family of hedonic games that explicitly model the value that an agent receives from being associated with other agents.  We provide a characterization of the social-welfare maximizing coalition structures, and study the stability properties of affinity games, using the core solution concept.  Interestingly, we observe that members of the core do not necessarily maximize social welfare.  We introduce a new measure, the stability-gap to capture this difference.  Using the stability gap, we show that for an interesting class of coalitional affinity games, the difference between the social welfare of a stable coalition structure and a social welfare maximizing coalition structure is bounded by a factor of two, and that this bound is tight.

For classification with multiple labels, a common approach is to learn a classifier for each label. With a kernel-based classifier, there are two options to set up kernels: select a specific kernel for each label or the same kernel for all labels.  In this work, we present a unified framework for multi-label multiple kernel learning, in which the above two approaches can be considered as two extreme cases. Moreover, our framework allows the kernels shared partially among multiple labels, enabling flexible degrees of label commonality. We systematically study how the sharing of kernels among multiple labels affects the performance based on extensive experiments on various benchmark data including images and microarray data. Interesting findings concerning efficacy and efficiency are reported.

Buoyed by recent successes in the area of distributed constraint optimization problems (DCOPs), this paper addresses challenges faced when applying DCOPs to real-world domains. Three fundamental challenges must be addressed for a class of real-world domains, requiring novel DCOP algorithms. First, agents may not know the payoff matrix and must explore the environment to determine rewards associated with variable settings. Second, agents may need to maximize total accumulated reward rather than instantaneous final reward. Third, limited time horizons disallow exhaustive exploration of the environment. We propose and implement a set of novel algorithms that combine decision-theoretic exploration approaches with DCOP-mandated coordination. In addition to simulation results, we implement these algorithms on robots, deploying DCOPs on a distributed mobile sensor network.

Open-ended language communication remains an enormous challenge for autonomous robots. This paper argues that the notion of a language strategy is the appropriate vehicle for addressing this challenge. A language strategy packages all the procedures that are necessary for playing a language game. We present a specific example of a language strategy for playing an Action Game  in which one robot asks another robot to take on a body posture (such as stand or sit), and show how it effectively allows a population of agents to self-organise a perceptually grounded ontology and a lexicon from scratch, without any human intervention. Next, we show how a new language strategy can arise by exaptation from an existing one, concretely, how the body posture strategy can be exapted to a strategy for playing language games about the spatial position of objects (as in "the bottle stands on the table").

Written instructions are a common way of teaching people how to accomplish tasks on the web. However, studies have shown that written instructions are difficult to follow, even for experienced users. A system that understands human-written instructions could guide users through the process of following the directions, improving completion rates and enhancing the user experience. While general natural language understanding is extremely difficult, we believe that in the limited domain of how-to instructions it should be possible to understand enough to provide guided help in a mixed-initiative environment. Based on a qualitative analysis of instructions gathered for 43 web-based tasks, we have formalized the problem of understanding and interpreting how-to instructions. We compare three different approaches to interpreting instructions: a keyword-based interpreter, a grammar-based interpreter, and an interpreter based on machine learning and information extraction. Our empirical results demonstrate the feasibility of automated how-to instruction understanding.

Boltzmann Machines are a powerful class of undirected graphical models. Originally proposed as artificial neural networks, they can be regarded as a type of Markov Random Field in which the connection weights between nodes are symmetric and learned from data. They are also closely related to recent models such as Markov logic networks and Conditional Random Fields. A major challenge for Boltzmann machines (as well as other graphical models) is speeding up learning for large-scale problems. The heart of the problem lies in efficiently and effectively approximating the partition function. In this paper, we propose a new efficient learning algorithm for Boltzmann machines that allows them to be applied to problems with large numbers of random variables. We introduce a new large-margin variational approximation to the partition function that allows Boltzmann machines to be trained using a support vector machine (SVM) style learning algorithm. For discriminative learning tasks, these large margin Boltzmann machines provide an alternative approach to structural SVMs. We show that these machines have low sample complexity and derive a generalization bound. Our results demonstrate that on multi-label classification problems, large margin Boltzmann machines achieve orders of magnitude faster performance than structural SVMs and also outperform structural SVMs on problems with large numbers of labels.