The connectivity of the nervous system of the nematode Caenorhabditis eleganshas been described completely, but the analysis of the neuronal basisof behavior in this system is just beginning. Here, we used an optimization algorithm to search for patterns of connectivity sufficient tocompute the sensorimotor transformation underlying C. elegans chemotaxis, a simple form of spatial orientation behavior in which turning probabilityis modulated by the rate of change of chemical concentration.

Principal components analysis (PCA) is one of the most widely used techniques in machine learning and data mining. Minor components analysis (MCA) is less well known, but can also play an important role in the presence of constraints on the data distribution. In this paper we present a probabilistic model for "extreme components analysis" (XCA) which at the maximum likelihood solution extracts an optimal combination ofprincipal and minor components. For a given number of components, thelog-likelihood of the XCA model is guaranteed to be larger or equal than that of the probabilistic models for PCA and MCA. We describe anefficient algorithm to solve for the globally optimal solution. For log-convex spectra we prove that the solution consists of principal components only, while for log-concave spectra the solution consists of minor components. In general, the solution admits a combination of both. In experiments we explore the properties of XCA on some synthetic and real-world datasets.

Autonomous helicopter flight represents a challenging control problem, with complex, noisy, dynamics. In this paper, we describe a successful application of reinforcement learning to autonomous helicopter flight.

The online incremental gradient (or backpropagation) algorithm is widely considered to be the fastest method for solving large-scale neural-network (NN) learning problems. In contrast, we show that an appropriately implemented iterative batch-mode (or block-mode) learning method can be much faster. For example, it is three times faster in the UCI letter classification problem (26 outputs, 16,000 data items, 6,066 parameters with a two-hidden-layer multilayer perceptron) and 353 times faster in a nonlinear regression problem arising in color recipe prediction (10 outputs, 1,000 data items, 2,210 parameters with a neuro-fuzzy modular network). The three principal innovative ingredients in our algorithm are the following: First, we use scaled trust-region regularization with inner-outer iteration tosolve the associated "overdetermined" nonlinear least squares problem, where the inner iteration performs a truncated (or inexact) Newton method. Second, we employ Pearlmutter's implicit sparse Hessian matrix-vector multiply algorithm to construct theKrylov subspaces used to solve for the truncated Newton update. Third, we exploit sparsity (for preconditioning) in the matrices resulting from the NNs having many outputs.

Consider a number of moving points, where each point is attached to a joint of the human body and projected onto an image plane. Johannson showed that humans can effortlessly detect and recognize thepresence of other humans from such displays. This is true even when some of the body points are missing (e.g. because of occlusion) and unrelated clutter points are added to the display. We are interested in replicating this ability in a machine. To this end, we present a labelling and detection scheme in a probabilistic framework. Our method is based on representing the joint probability densityof positions and velocities of body points with a graphical model, and using Loopy Belief Propagation to calculate a likely interpretation of the scene. Furthermore, we introduce a global variable representing the body's centroid. Experiments on one motion-captured sequence suggest that our scheme improves on the accuracy of a previous approach based on triangulated graphical models,especially when very few parts are visible. The improvement isdue both to the more general graph structure we use and, more significantly, to the introduction of the centroid variable.

The 2-class transduction problem, as formulated by Vapnik [1], involves finding a separating hyperplane for a labelled data set that is also maximally distant from a given set of unlabelled test points. In this form, the problem has exponential computational complexity in the size of the working set. So far it has been attacked by means of integer programming techniques [2] that do not scale to reasonable problem sizes, or by local search procedures [3]. In this paper we present a relaxation of this task based on semidefinite programming(SDP), resulting in a convex optimization problem that has polynomial complexity in the size of the data set. The results are very encouraging for mid sized data sets, however the cost is still too high for large scale problems, due to the high dimensional searchspace. To this end, we restrict the feasible region by introducing an approximation based on solving an eigenproblem. With this approximation, the computational cost of the algorithm is such that problems with more than 1000 points can be treated.

In order to understand AdaBoost's dynamics, especially its ability to maximize margins, we derive an associated simplified nonlinear iterated map and analyze its behavior in low-dimensional cases. We find stable cycles for these cases, which can explicitly be used to solve for Ada-Boost's output. By considering AdaBoost as a dynamical system, we are able to prove Rätsch and Warmuth's conjecture that AdaBoost may fail to converge to a maximal-margin combined classifier when given a'nonoptimal' weaklearning algorithm.

The so-called "experts algorithms" constitute a methodology for choosing actionsrepeatedly, when the rewards depend both on the choice of action and on the unknown current state of the environment. An experts algorithm has access to a set of strategies ("experts"), each of which may recommend which action to choose. The algorithm learns how to combine therecommendations of individual experts so that, in the long run, for any fixed sequence of states of the environment, it does as well as the best expert would have done relative to the same sequence. This methodology maynot be suitable for situations where the evolution of states of the environment depends on past chosen actions, as is usually the case, for example, in a repeated nonzero-sum game. A new experts algorithm is presented and analyzed in the context of repeated games.It is shown that asymptotically, under certain conditions, it performs as well as the best available expert. This algorithm is quite different from previously proposed experts algorithms. It represents a shift from the paradigms of regret minimization and myopic optimization toconsideration of the long-term effect of a player's actions on the opponent's actions or the environment. The importance of this shift is demonstrated by the fact that this algorithm is capable of inducing cooperation inthe repeated Prisoner's Dilemma game, whereas previous experts algorithms converge to the suboptimal non-cooperative play.

Brain-Computer Interfaces (BCI) are an interesting emerging technology that is driven by the motivation to develop an effective communication interface translatinghuman intentions into a control signal for devices like computers or neuroprostheses. If this can be done bypassing the usual human outputpathways like peripheral nerves and muscles it can ultimately become a valuable tool for paralyzed patients.

Mutual Boosting is a method aimed at incorporating contextual information to augment object detection. When multiple detectors of objects and parts are trained in parallel using AdaBoost [1], object detectors might use the remaining intermediate detectors to enrich the weak learner set. This method generalizes the efficient features suggested by Viola and Jones [2] thus enabling information inference between parts and objects in a compositional hierarchy. In our experiments eye-, nose-, mouth-and face detectors are trained using the Mutual Boosting framework. Results show that the method outperforms applications overlooking contextual information. We suggest that achieving contextual integration is a step toward humanlike detection capabilities.