An analog focal-plane processor having a 128 128 photodiode array has been developed for directional edge filtering. It can perform 4 4-pixel kernel convolution for entire pixels only with 256 steps of simple analog processing. Newly developed cyclic line access and row-parallel processing scheme in conjunction with the "only-nearest-neighbor interconnects" architecture has enabled a very simple implementation. A proof-of-conceptchip was fabricated in a 0.35-m 2-poly 3-metal CMOS technology and the edge filtering at a rate of 200 frames/sec.

Clustering is a fundamental problem in machine learning and has been approached in many ways. Two general and quite different approaches include iteratively fitting a mixture model (e.g., using EM) and linking together pairs of training cases that have high affinity (e.g., using spectral methods). Pairwise clustering algorithms need not compute sufficient statistics and avoid poor solutions by directly placing similar examples in the same cluster. However, many applications require that each cluster of data be accurately described by a prototype or model, so affinity-based clustering - and its benefits - cannot be directly realized. We describe a technique called "affinity propagation", which combines the advantages of both approaches. The method learns a mixture model of the data by recursively propagating affinity messages. We demonstrate affinity propagation on the problems of clustering image patches for image segmentation and learning mixtures of gene expression models from microarray data. We find that affinity propagation obtains better solutions than mixtures of Gaussians, the K-medoids algorithm, spectral clustering and hierarchical clustering, and is both able to find a pre-specified number of clusters and is able to automatically determine the number of clusters. Interestingly, affinity propagation can be viewed as belief propagation in a graphical model that accounts for pairwise training case likelihood functions and the identification of cluster centers.

Recent neurophysiological evidence suggests the ability to interpret biological motion is facilitated by a neuronal "mirror system" which maps visual inputs to the pre-motor cortex. If the common architecture and circuitry of the cortices is taken to imply a common computation across multiple perceptual and cognitive modalities, this visual-motor interaction might be expected to have a unified computational basis. Two essential tasks underlying such visual-motor cooperation are shown here to be simply expressed and directly solved as transformation-discovery inverse problems: (a) discriminating and determining the pose of a primed 3D object in a real-world scene, and (b) interpreting the 3D configuration of an articulated kinematic object in an image. The recently developed map-seeking method provides a mathematically tractable, cortically-plausible solution to these and a variety of other inverse problems which can be posed as the discovery of a composition of transformations between two patterns. The method relies on an ordering property of superpositions and on decomposition of the transformation spaces inherent in the generating processes of the problem. 1 Introduction A variety of "brain tasks" can be tersely posed as transformation-discovery problems.

To investigate how top-down (TD) and bottom-up (BU) information is weighted in the guidance of human search behavior, we manipulated the proportions of BU and TD components in a saliency-based model. The model is biologically plausible and implements an artificial retina and a neuronal population code. The BU component is based on featurecontrast. The TD component is defined by a feature-template match to a stored target representation. We compared the model's behavior at different mixtures of TD and BU components to the eye movement behavior of human observers performing the identical search task. We found that a purely TD model provides a much closer match to human behavior than any mixture model using BU information. Only when biological constraints are removed (e.g., eliminating the retina) did a BU/TD mixture model begin to approximate human behavior.

Given a probability measure P and a reference measure µ, one is often interested in the minimum µ-measure set with P-measure at least α. Minimum volume sets of this type summarize the regions of greatest probability mass of P, and are useful for detecting anomalies and constructing confidence regions. This paper addresses the problem of estimating minimum volume sets based on independent samples distributed according to P. Other than these samples, no other information is available regarding P, but the reference measure µ is assumed to be known. We introduce rules for estimating minimum volume sets that parallel the empirical risk minimization and structural risk minimization principles in classification. As in classification, we show that the performances of our estimators are controlled by the rate of uniform convergence of empirical to true probabilities over the class from which the estimator is drawn. Thus we obtain finite sample size performance bounds in terms of VC dimension and related quantities. We also demonstrate strong universal consistency and an oracle inequality. Estimators based on histograms and dyadic partitions illustrate the proposed rules.

Gradient flow representation of the traveling wave signals acquired over a miniature (1cm diameter) array of four microphones yields linearly mixed instantaneous observations of the time-differentiated sources, separated and localized by independent component analysis (ICA). The gradient flow and ICA processors each measure 3mm 3mm in 0.5 µm CMOS, and consume 54 µW and 180 µW power, respectively, from a 3 V supply at 16 ks/s sampling rate. Experiments demonstrate perceptually clear (12dB) separation and precise localization of two speech sources presented through speakers positioned at 1.5m from the array on a conference room table. Analysis of the multipath residuals shows that they are spectrally diffuse, and void of the direct path.

Sets", we consider the problem of retrieving items from a concept or cluster, given a query consisting of a few items from that cluster. We formulate this as a Bayesian inference problem and describe a very simple algorithm for solving it. Our algorithm uses a modelbased concept of a cluster and ranks items using a score which evaluates the marginal probability that each item belongs to a cluster containing the query items. For exponential family models with conjugate priors this marginal probability is a simple function of sufficient statistics. We focus on sparse binary data and show that our score can be evaluated exactly using a single sparse matrix multiplication, making it possible to apply our algorithm to very large datasets. We evaluate our algorithm on three datasets: retrieving movies from EachMovie, finding completions of author sets from the NIPS dataset, and finding completions of sets of words appearing in the Grolier encyclopedia.

We present a Bayesian framework for explaining how people reason about and predict the actions of an intentional agent, based on observing its behavior. Action-understanding is cast as a problem of inverting a probabilistic generative model, which assumes that agents tend to act rationally in order to achieve their goals given the constraints of their environment. Working in a simple sprite-world domain, we show how this model can be used to infer the goal of an agent and predict how the agent will act in novel situations or when environmental constraints change. The model provides a qualitative account of several kinds of inferences that preverbal infants have been shown to perform, and also fits quantitative predictions that adult observers make in a new experiment.

Under natural viewing conditions, small movements of the eye and body prevent the maintenance of a steady direction of gaze. It is known that stimuli tend to fade when they are stabilized on the retina for several seconds. However, it is unclear whether the physiological self-motion of the retinal image serves a visual purpose during the brief periods of natural visual fixation. This study examines the impact of fixational instability on the statistics of visual input to the retina and on the structure of neural activity in the early visual system. Fixational instability introduces fluctuations in the retinal input signals that, in the presence of natural images, lack spatial correlations. These input fluctuations strongly influence neural activity in a model of the LGN. They decorrelate cell responses, even if the contrast sensitivity functions of simulated cells are not perfectly tuned to counterbalance the power-law spectrum of natural images. A decorrelation of neural activity has been proposed to be beneficial for discarding statistical redundancies in the input signals. Fixational instability might, therefore, contribute to establishing efficient representations of natural stimuli.

In this paper we consider the problem of finding sets of points that conform to a given underlying model from within a dense, noisy set of observations. This problem is motivated by the task of efficiently linking faint asteroid detections, but is applicable to a range of spatial queries. We survey current tree-based approaches, showing a tradeoff exists between single tree and multiple tree algorithms. To this end, we present a new type of multiple tree algorithm that uses a variable number of trees to exploit the advantages of both approaches. We empirically show that this algorithm performs well using both simulated and astronomical data.