Planning algorithms designed for deterministic worlds, such as A* search, usually run much faster than algorithms designed for worlds with uncertain action outcomes, such as value iteration. Real-world planning problems often exhibit uncertainty, which forces us to use the slower algorithms to solve them. Many real-world planning problems exhibit sparse uncertainty: there are long sequences of deterministic actions which accomplish tasks like moving sensor platforms into place, interspersed with a small number of sensing actions which have uncertain outcomes. In this paper we describe a new planning algorithm, called MCP (short for MDP Compression Planning), which combines A* search with value iteration for solving Stochastic Shortest Path problem in MDPs with sparse stochasticity. We present experiments which show that MCP can run substantially faster than competing planners in domains with sparse uncertainty; these experiments are based on a simulation of a ground robot cooperating with a helicopter to fill in a partial map and move to a goal location.

We propose a new method for estimating intrinsic dimension of a dataset derived by applying the principle of maximum likelihood to the distances between close neighbors. We derive the estimator by a Poisson process approximation, assess its bias and variance theoretically and by simulations, and apply it to a number of simulated and real datasets. We also show it has the best overall performance compared with two other intrinsic dimension estimators.

Areas of the brain involved in various forms of memory exhibit patterns of neural activity quite unlike those in canonical computational models. We show how to use well-founded Bayesian probabilistic autoassociative recall to derive biologically reasonable neuronal dynamics in recurrently coupled models, together with appropriate values for parameters such as the membrane time constant and inhibition. We explicitly treat two cases. One arises from a standard Hebbian learning rule, and involves activity patterns that are coded by graded firing rates. The other arises from a spike timing dependent learning rule, and involves patterns coded by the phase of spike times relative to a coherent local field potential oscillation. Our model offers a new and more complete understanding of how neural dynamics may support autoassociation.

The correction of bias in magnetic resonance images is an important problem in medical image processing. Most previous approaches have used a maximum likelihood method to increase the likelihood of the pixels in a single image by adaptively estimating a correction to the unknown image bias field. The pixel likelihoods are defined either in terms of a preexisting tissue model, or non-parametrically in terms of the image's own pixel values. In both cases, the specific location of a pixel in the image is not used to calculate the likelihoods. We suggest a new approach in which we simultaneously eliminate the bias from a set of images of the same anatomy, but from different patients. We use the statistics from the same location across different images, rather than within an image, to eliminate bias fields from all of the images simultaneously. The method builds a "multi-resolution" nonparametric tissue model conditioned on image location while eliminating the bias fields associated with the original image set.

We present a graphical model for beat tracking in recorded music. Using a probabilistic graphical model allows us to incorporate local information and global smoothness constraints in a principled manner. We evaluate our model on a set of varied and difficult examples, and achieve impressive results. By using a fast dual-tree algorithm for graphical model inference, our system runs in less time than the duration of the music being processed.

During the last ten years there has been growing interest in the development of Brain Computer Interfaces (BCIs). The field has mainly been driven by the needs of completely paralyzed patients to communicate. With a few exceptions, most human BCIs are based on extracranial electroencephalography (EEG). However, reported bit rates are still low. One reason for this is the low signal-to-noise ratio of the EEG [16]. We are currently investigating if BCIs based on electrocorticography (ECoG) are a viable alternative. In this paper we present the method and examples of intracranial EEG recordings of three epilepsy patients with electrode grids placed on the motor cortex. The patients were asked to repeatedly imagine movements of two kinds, e.g., tongue or finger movements. We analyze the classifiability of the data using Support Vector Machines (SVMs) [18, 21] and Recursive Channel Elimination (RCE) [11].

This paper presents an application of Boosting for classifying labeled graphs, general structures for modeling a number of real-world data, such as chemical compounds, natural language texts, and bio sequences. The proposal consists of i) decision stumps that use subgraph as features, and ii) a Boosting algorithm in which subgraph-based decision stumps are used as weak learners. We also discuss the relation between our algorithm and SVMs with convolution kernels. Two experiments using natural language data and chemical compounds show that our method achieves comparable or even better performance than SVMs with convolution kernels as well as improves the testing efficiency.

A graph-based prior is proposed for parametric semi-supervised classification. The prior utilizes both labelled and unlabelled data; it also integrates features from multiple views of a given sample (e.g., multiple sensors), thus implementing a Bayesian form of co-training. An EM algorithm for training the classifier automatically adjusts the tradeoff between the contributions of: (a) the labelled data; (b) the unlabelled data; and (c) the co-training information. Active label query selection is performed using a mutual information based criterion that explicitly uses the unlabelled data and the co-training information. Encouraging results are presented on public benchmarks and on measured data from single and multiple sensors.

We propose a gossip-based distributed algorithm for Gaussian mixture learning, Newscast EM. The algorithm operates on network topologies where each node observes a local quantity and can communicate with other nodes in an arbitrary point-to-point fashion. The main difference between Newscast EM and the standard EM algorithm is that the M-step in our case is implemented in a decentralized manner: (random) pairs of nodes repeatedly exchange their local parameter estimates and combine them by (weighted) averaging. We provide theoretical evidence and demonstrate experimentally that, under this protocol, nodes converge exponentially fast to the correct estimates in each M-step of the EM algorithm.

In the multi-armed bandit problem, an online algorithm must choose from a set of strategies in a sequence of n trials so as to minimize the total cost of the chosen strategies. While nearly tight upper and lower bounds are known in the case when the strategy set is finite, much less is known when there is an infinite strategy set.