Many real-world domains are relational in nature, consisting of a set of objects related to each other in complex ways. This paper focuses on predicting the existence and the type of links between entities in such domains. We apply the relational Markov network framework of Taskar et al. to define a joint probabilistic model over the entire link graph -- entity attributes and links. The application of the RMN algorithm to this task requires the definition of probabilistic patterns over subgraph structures. We apply this method to two new relational datasets, one involving university webpages, and the other a social network. We show that the collective classification approach of RMNs, and the introduction of subgraph patterns over link labels, provide significant improvements in accuracy over flat classification, which attempts to predict each link in isolation.

Many techniques for complex speech processing such as denoising and deconvolution, time/frequency warping, multiple speaker separation, and multiple microphone analysis operate on sequences of short-time power spectra (spectrograms), a representation which is often well-suited to these tasks. However, a significant problem with algorithms that manipulate spectrograms is that the output spectrogram does not include a phase component, which is needed to create a time-domain signal that has good perceptual quality. Here we describe a generative model of time-domain speech signals and their spectrograms, and show how an efficient optimizer can be used to find the maximum a posteriori speech signal, given the spectrogram.

Eigenvoice speaker adaptation has been shown to be effective when only a small amount of adaptation data is available. At the heart of the method is principal component analysis (PCA) employed to find the most important eigenvoices. In this paper, we postulate that nonlinear PCA, in particular kernel PCA, may be even more effective. One major challenge is to map the feature-space eigenvoices back to the observation space so that the state observation likelihoods can be computed during the estimation of eigenvoice weights and subsequent decoding. Our solution is to compute kernel PCA using composite kernels, and we will call our new method kernel eigenvoice speaker adaptation. On the TIDIGITS corpus, we found that compared with a speaker-independent model, our kernel eigenvoice adaptation method can reduce the word error rate by 28-33% while the standard eigenvoice approach can only match the performance of the speaker-independent model.

Super-resolution aims to produce a high-resolution image from a set of one or more low-resolution images by recovering or inventing plausible high-frequency image content. Typical approaches try to reconstruct a high-resolution image using the sub-pixel displacements of several lowresolution images, usually regularized by a generic smoothness prior over the high-resolution image space. Other methods use training data to learn low-to-high-resolution matches, and have been highly successful even in the single-input-image case. Here we present a domain-specific image prior in the form of a p.d.f.

As part of an environmental observation and forecasting system, sensors deployed in the Columbia RIver Estuary (CORIE) gather information on physical dynamics and changes in estuary habitat. Of these, salinity sensors are particularly susceptible to biofouling, which gradually degrades sensor response and corrupts critical data. Automatic fault detectors have the capability to identify bio-fouling early and minimize data loss. Complicating the development of discriminatory classifiers is the scarcity of bio-fouling onset examples and the variability of the bio-fouling signature. To solve these problems, we take a novelty detection approach that incorporates a parameterized bio-fouling model. These detectors identify the occurrence of bio-fouling, and its onset time as reliably as human experts. Real-time detectors installed during the summer of 2001 produced no false alarms, yet detected all episodes of sensor degradation before the field staff scheduled these sensors for cleaning. From this initial deployment through February 2003, our bio-fouling detectors have essentially doubled the amount of useful data coming from the CORIE sensors.

Recent research has demonstrated that useful POMDP solutions do not require consideration of the entire belief space. We extend this idea with the notion of temporal abstraction. We present and explore a new reinforcement learning algorithm over grid-points in belief space, which uses macro-actions and Monte Carlo updates of the Q-values. We apply the algorithm to a large scale robot navigation task and demonstrate that with temporal abstraction we can consider an even smaller part of the belief space, we can learn POMDP policies faster, and we can do information gathering more efficiently.

Psychophysical studies suggest the existence of specialized detectors for component motion patterns (radial, circular, and spiral), that are consistent with the visual motion properties of cells in the dorsal medial superior temporal area (MSTd) of nonhuman primates. Here we use a biologically constrained model of visual motion processing in MSTd, in conjunction with psychophysical performance on two motion pattern tasks, to elucidate the computational mechanisms associated with the processing of widefield motion patterns encountered during self-motion. In both tasks discrimination thresholds varied significantly with the type of motion pattern presented, suggesting perceptual correlates to the preferred motion bias reported in MSTd. Through the model we demonstrate that while independently responding motion pattern units are capable of encoding information relevant to the visual motion tasks, equivalent psychophysical performance can only be achieved using interconnected neural populations that systematically inhibit non-responsive units. These results suggest the cyclic trends in psychophysical performance may be mediated, in part, by recurrent connections within motion pattern responsive areas whose structure is a function of the similarity in preferred motion patterns and receptive field locations between units.

Biochemical signal-transduction networks are the biological information-processing systems by which individual cells, from neurons to amoebae, perceive and respond to their chemical environments. We introduce a simplified model of a single biochemical relay and analyse its capacity as a communications channel. A diffusible ligand is released by a sending cell and received by binding to a transmembrane receptor protein on a receiving cell. This receptor-ligand interaction creates a nonlinear communications channel with non-Gaussian noise. We model this channel numerically and study its response to input signals of different frequencies in order to estimate its channel capacity. Stochastic effects introduced in both the diffusion process and the receptor-ligand interaction give the channel low-pass characteristics. We estimate the channel capacity using a water-filling formula adapted from the additive white-noise Gaussian channel.

We present and empirically test a novel approach for categorizing 3-D free form object shapes represented by range data. In contrast to traditional surface-signature based systems that use alignment to match specific objects, we adapted the newly introduced symbolic-signature representation to classify deformable shapes [10]. Our approach constructs an abstract description of shape classes using an ensemble of classifiers that learn object class parts and their corresponding geometrical relationships from a set of numeric and symbolic descriptors. We used our classification engine in a series of large scale discrimination experiments on two well-defined classes that share many common distinctive features. The experimental results suggest that our method outperforms traditional numeric signature-based methodologies.

A mobile robot acting in the world is faced with a large amount of sensory data and uncertainty in its action outcomes. Indeed, almost all interesting sequential decision-making domains involve large state spaces and large, stochastic action sets. We investigate a way to act intelligently as quickly as possible in domains where finding a complete policy would take a hopelessly long time.