We apply kernel-based methods to solve the difficult reinforcement learning problem of 3vs2 keepaway in RoboCup simulated soccer. Key challenges in keepaway are the high-dimensionality of the state space (rendering conventional discretization-based function approximation like tilecoding infeasible), the stochasticity due to noise and multiple learning agents needing to cooperate (meaning that the exact dynamics of the environment are unknown) and real-time learning (meaning that an efficient online implementation is required). We employ the general framework of approximate policy iteration with least-squares-based policy evaluation. As underlying function approximator we consider the family of regularization networks with subset of regressors approximation. The core of our proposed solution is an efficient recursive implementation with automatic supervised selection of relevant basis functions. Simulation results indicate that the behavior learned through our approach clearly outperforms the best results obtained earlier with tilecoding by Stone et al. (2005).

This paper develops generalizations of empowerment to continuous states. Empowerment is a recently introduced information-theoretic quantity motivated by hypotheses about the efficiency of the sensorimotor loop in biological organisms, but also from considerations stemming from curiosity-driven learning. Empowemerment measures, for agent-environment systems with stochastic transitions, how much influence an agent has on its environment, but only that influence that can be sensed by the agent sensors. It is an information-theoretic generalization of joint controllability (influence on environment) and observability (measurement by sensors) of the environment by the agent, both controllability and observability being usually defined in control theory as the dimensionality of the control/observation spaces. Earlier work has shown that empowerment has various interesting and relevant properties, e.g., it allows us to identify salient states using only the dynamics, and it can act as intrinsic reward without requiring an external reward. However, in this previous work empowerment was limited to the case of small-scale and discrete domains and furthermore state transition probabilities were assumed to be known. The goal of this paper is to extend empowerment to the significantly more important and relevant case of continuous vector-valued state spaces and initially unknown state transition probabilities. The continuous state space is addressed by Monte-Carlo approximation; the unknown transitions are addressed by model learning and prediction for which we apply Gaussian processes regression with iterated forecasting. In a number of well-known continuous control tasks we examine the dynamics induced by empowerment and include an application to exploration and online model learning.

In many situations where the interest lies in identifying clusters one might expect that not all available variables carry information about these groups. Furthermore, data quality (e.g. outliers or missing entries) might present a serious and sometimes hard-to-assess problem for large and complex datasets. In this paper we show that a small proportion of atypical observations might have serious adverse effects on the solutions found by the sparse clustering algorithm of Witten and Tibshirani (2010). We propose a robustification of their sparse K-means algorithm based on the trimmed K-means algorithm of Cuesta-Albertos et al. (1997) Our proposal is also able to handle datasets with missing values. We illustrate the use of our method on microarray data for cancer patients where we are able to identify strong biological clusters with a much reduced number of genes. Our simulation studies show that, when there are outliers in the data, our robust sparse K-means algorithm performs better than other competing methods both in terms of the selection of features and also the identified clusters. This robust sparse K-means algorithm is implemented in the R package RSKC which is publicly available from the CRAN repository.

In medical risk modeling, typical data are "scarce": they have relatively small number of training instances (N), censoring, and high dimensionality (M). We show that the problem may be effectively simplified by reducing it to bipartite ranking, and introduce new bipartite ranking algorithm, Smooth Rank, for robust learning on scarce data. The algorithm is based on ensemble learning with unsupervised aggregation of predictors. The advantage of our approach is confirmed in comparison with two "gold standard" risk modeling methods on 10 real life survival analysis datasets, where the new approach has the best results on all but two datasets with the largest ratio N/M. For systematic study of the effects of data scarcity on modeling by all three methods, we conducted two types of computational experiments: on real life data with randomly drawn training sets of different sizes, and on artificial data with increasing number of features. Both experiments demonstrated that Smooth Rank has critical advantage over the popular methods on the scarce data; it does not suffer from overfitting where other methods do.

Abstract: We briefly introduce the memory based approaches to emulate machine intelligence in VLSI hardware, describing the challenges and advantages. Implementation of artificial intelligence techniques in VLSI hardware is a practical and difficult problem. Deep architectures, hierarchical temporal memories and memory networks are some of the contemporary approaches in this area of research. The techniques attempt to emulate low level intelligence tasks and aim at providing scalable solutions to high level intelligence problems such as sparse coding and contextual processing. Neocortex in human brain that accounts for 76% of the brain's volume can be seen as a control unit that is involved in the processing of intelligence functions such as sensory perception, generation of motor commands, spatial reasoning, conscious thought and language.

Feature selection is an important problem in high-dimensional data analysis and classification. Conventional feature selection approaches focus on detecting the features based on a redundancy criterion using learning and feature searching schemes. In contrast, we present an approach that identifies the need to select features based on their discriminatory ability among classes. Area of overlap between inter-class and intra-class distances resulting from feature to feature comparison of an attribute is used as a measure of discriminatory ability of the feature. A set of nearest attributes in a pattern having the lowest area of overlap within a degree of tolerance defined by a selection threshold is selected to represent the best available discriminable features. State of the art recognition results are reported for pattern classification problems by using the proposed feature selection scheme with the nearest neighbour classifier. These results are reported with benchmark databases having high dimensional feature vectors in the problems involving images and micro array data.

Many performance metrics have been introduced for the evaluation of classification performance, with different origins and niches of application: accuracy, macro-accuracy, area under the ROC curve, the ROC convex hull, the absolute error, and the Brier score (with its decomposition into refinement and calibration). One way of understanding the relation among some of these metrics is the use of variable operating conditions (either in the form of misclassification costs or class proportions). Thus, a metric may correspond to some expected loss over a range of operating conditions. One dimension for the analysis has been precisely the distribution we take for this range of operating conditions, leading to some important connections in the area of proper scoring rules. However, we show that there is another dimension which has not received attention in the analysis of performance metrics. This new dimension is given by the decision rule, which is typically implemented as a threshold choice method when using scoring models. In this paper, we explore many old and new threshold choice methods: fixed, score-uniform, score-driven, rate-driven and optimal, among others. By calculating the loss of these methods for a uniform range of operating conditions we get the 0-1 loss, the absolute error, the Brier score (mean squared error), the AUC and the refinement loss respectively. This provides a comprehensive view of performance metrics as well as a systematic approach to loss minimisation, namely: take a model, apply several threshold choice methods consistent with the information which is (and will be) available about the operating condition, and compare their expected losses. In order to assist in this procedure we also derive several connections between the aforementioned performance metrics, and we highlight the role of calibration in choosing the threshold choice method.

Support Vector Machines, SVMs, and the Large Margin Nearest Neighbor algorithm, LMNN, are two very popular learning algorithms with quite different learning biases. In this paper we bring them into a unified view and show that they have a much stronger relation than what is commonly thought. We analyze SVMs from a metric learning perspective and cast them as a metric learning problem, a view which helps us uncover the relations of the two algorithms. We show that LMNN can be seen as learning a set of local SVM-like models in a quadratic space. Along the way and inspired by the metric-based interpretation of SVM s we derive a novel variant of SVMs, epsilon-SVM, to which LMNN is even more similar. We give a unified view of LMNN and the different SVM variants. Finally we provide some preliminary experiments on a number of benchmark datasets in which show that epsilon-SVM compares favorably both with respect to LMNN and SVM.

We propose the concept of Action-Related Place (ARPlace) as a powerful and flexible representation of task-related place in the context of mobile manipulation. ARPlace represents robot base locations not as a single position, but rather as a collection of positions, each with an associated probability that the manipulation action will succeed when located there. ARPlaces are generated using a predictive model that is acquired through experience-based learning, and take into account the uncertainty the robot has about its own location and the location of the object to be manipulated. When executing the task, rather than choosing one specific goal position based only on the initial knowledge about the task context, the robot instantiates an ARPlace, and bases its decisions on this ARPlace, which is updated as new information about the task becomes available. To show the advantages of this least-commitment approach, we present a transformational planner that reasons about ARPlaces in order to optimize symbolic plans. Our empirical evaluation demonstrates that using ARPlaces leads to more robust and efficient mobile manipulation in the face of state estimation uncertainty on our simulated robot.

We present a technique for the animation of a 3D kinematic tongue model, one component of the talking head of an acoustic-visual (AV) speech synthesizer. The skeletal animation approach is adapted to make use of a deformable rig controlled by tongue motion capture data obtained with electromagnetic articulography (EMA), while the tongue surface is extracted from volumetric magnetic resonance imaging (MRI) data. Initial results are shown and future work outlined.