An important aspect of clustering algorithms is whether the partitions constructed on finite samples converge to a useful clustering of the whole data space as the sample size increases. This paper investigates this question for normalized and unnormalized versions of the popular spectral clusteringalgorithm. Surprisingly, the convergence of unnormalized spectral clustering is more difficult to handle than the normalized case. Even though recently some first results on the convergence of normalized spectralclustering have been obtained, for the unnormalized case we have to develop a completely new approach combining tools from numerical integration, spectral and perturbation theory, and probability. It turns out that while in the normalized case, spectral clustering usually converges to a nice partition of the data space, in the unnormalized case the same only holds under strong additional assumptions which are not always satisfied. We conclude that our analysis gives strong evidence for the superiority of normalized spectral clustering. It also provides a basis for future exploration of other Laplacian-based methods.

While clustering is usually an unsupervised operation, there are circumstances inwhich we believe (with varying degrees of certainty) that items A and B should be assigned to the same cluster, while items A and C should not. We would like such pairwise relations to influence cluster assignments of out-of-sample data in a manner consistent with the prior knowledge expressed in the training set. Our starting point is probabilistic clusteringbased on Gaussian mixture models (GMM) of the data distribution. We express clustering preferences in the prior distribution over assignments of data points to clusters. This prior penalizes cluster assignments according to the degree with which they violate the preferences.

This paper concerns approximate nearest neighbor searching algorithms, which have become increasingly important, especially in high dimensional perceptionareas such as computer vision, with dozens of publications in recent years. Much of this enthusiasm is due to a successful new approximate nearest neighbor approach called Locality Sensitive Hashing (LSH).In this paper we ask the question: can earlier spatial data structure approaches to exact nearest neighbor, such as metric trees, be altered to provide approximate answers to proximity queries and if so, how? We introduce a new kind of metric tree that allows overlap: certain datapoints may appear in both the children of a parent. We also introduce newapproximate k-NN search algorithms on this structure. We show why these structures should be able to exploit the same randomprojection-based approximationsthat LSH enjoys, but with a simpler algorithm and perhaps with greater efficiency. We then provide a detailed empirical evaluation on five large, high dimensional datasets which show up to 31-fold accelerations over LSH. This result holds true throughout the spectrum of approximation levels.

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 witha 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 andby 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.

In both cases, the specific location of a pixel in the image is not used to calculate the likelihoods.

Dixon describes beats as follows: "much music has as its rhythmic basis a series of pulses, spaced approximately equally in time, relative to which the timing of all musical events can be described. This phenomenon is called the beat, and the individual pulses are also called beats"[1]. Given a piece of recorded music (an MP3 file, for example), we wish to produce a set of beats that correspond to the beats perceived by human listeners. The set of beats of a song can be characterised by the trajectories through time of thetempo and phase offset. Tempo is typically measured in beats per minute (BPM), and describes the frequency of beats.

During the last ten years there has been growing interest in the development ofBrain 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 imaginemovements 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].

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

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 themby (weighted) averaging. We provide theoretical evidence and demonstrate experimentally that, under this protocol, nodes converge exponentially fastto the correct estimates in each M-step of the EM algorithm.