Motor primitives or motion templates have become an important concept for both modeling human motor control as well as generating robot behaviors using imitation learning. Recent impressive results range from humanoid robot movement generation to timing models of human motions. The automatic generation of skill libraries containing multiple motion templates is an important step in robot learning. Such a skill learning system needs to cluster similar movements together and represent each resulting motion template as a generative model which is subsequently used for the execution of the behavior by a robot system. In this paper, we show how human trajectories captured as multidimensional time-series can be clustered using Bayesian mixtures of linear Gaussian state-space models based on the similarity of their dynamics. The appropriate number of templates is automatically determined by enforcing a parsimonious parametrization. As the resulting model is intractable, we introduce a novel approximation method based on variational Bayes, which is especially designed to enable the use of efficient inference algorithms. On recorded human Balero movements, this method is not only capable of finding reasonable motion templates but also yields a generative model which works well in the execution of this complex task on a simulated anthropomorphic SARCOS arm.

We investigate a topic at the interface of machine learning and cognitive science. Human active learning, where learners can actively query the world for information, is contrasted with passive learning from random examples. Furthermore, we compare human active learning performance with predictions from statistical learning theory. We conduct a series of human category learning experiments inspired by a machine learning task for which active and passive learning error bounds are well understood, and dramatically distinct. Our results indicate that humans are capable of actively selecting informative queries, and in doing so learn better and faster than if they are given random training data, as predicted by learning theory. However, the improvement over passive learning is not as dramatic as that achieved by machine active learning algorithms. To the best of our knowledge, this is the first quantitative study comparing human category learning in active versus passive settings.

We develop the syntactic topic model (STM), a nonparametric Bayesian model of parsed documents. The STM generates words that are both thematically and syntactically constrained, which combines the semantic insights of topic models with the syntactic information available from parse trees. Each word of a sentence is generated by a distribution that combines document-specific topic weights and parse-tree-specific syntactic transitions. Words are assumed to be generated in an order that respects the parse tree. We derive an approximate posterior inference method based on variational methods for hierarchical Dirichlet processes, and we report qualitative and quantitative results on both synthetic data and hand-parsed documents.

Research in animal learning and behavioral neuroscience has distinguished between two forms of action control: a habit-based form, which relies on stored action values, and a goal-directed form, which forecasts and compares action outcomes based on a model of the environment. While habit-based control has been the subject of extensive computational research, the computational principles underlying goal-directed control in animals have so far received less attention. In the present paper, we advance a computational framework for goal-directed control in animals and humans. We take three empirically motivated points as founding premises: (1) Neurons in dorsolateral prefrontal cortex represent action policies, (2) Neurons in orbitofrontal cortex represent rewards, and (3) Neural computation, across domains, can be appropriately understood as performing structured probabilistic inference. On a purely computational level, the resulting account relates closely to previous work using Bayesian inference to solve Markov decision problems, but extends this work by introducing a new algorithm, which provably converges on optimal plans. On a cognitive and neuroscientific level, the theory provides a unifying framework for several different forms of goal-directed action selection, placing emphasis on a novel form, within which orbitofrontal reward representations directly drive policy selection.

We present a novel method for inducing synchronous context free grammars (SCFGs) from a corpus of parallel string pairs. SCFGs can model equivalence between strings in terms of substitutions, insertions and deletions, and the reordering of sub-strings. We develop a non-parametric Bayesian model and apply it to a machine translation task, using priors to replace the various heuristics commonly used in this field. Using a variational Bayes training procedure, we learn the latent structure of translation equivalence through the induction of synchronous grammar categories for phrasal translations, showing improvements in translation performance over previously proposed maximum likelihood models.

Almost all successful machine learning algorithms and cognitive models require powerful representations capturing the features that are relevant to a particular problem. We draw on recent work in nonparametric Bayesian statistics to define a rational model of human feature learning that forms a featural representation from raw sensory data without pre-specifying the number of features. By comparing how the human perceptual system and our rational model use distributional and category information to infer feature representations, we seek to identify some of the forces that govern the process by which people separate and combine sensory primitives to form features.

We present a generative model for performing sparse probabilistic projections, which includes sparse principal component analysis and sparse canonical correlation analysis as special cases. Sparsity is enforced by means of automatic relevance determination or by imposing appropriate prior distributions, such as generalised hyperbolic distributions. We derive a variational Expectation-Maximisation algorithm for the estimation of the hyperparameters and show that our novel probabilistic approach compares favourably to existing techniques. We illustrate how the proposed method can be applied in the context of cryptoanalysis as a pre-processing tool for the construction of template attacks.

We describe an application of probabilistic modeling and inference technology to the problem of analyzing sensor data in the setting of an intensive care unit (ICU). In particular, we consider the arterial-line blood pressure sensor, which is subject to frequent data artifacts that cause false alarms in the ICU and make the raw data almost useless for automated decision making. The problem is complicated by the fact that the sensor data are averaged over fixed intervals whereas the events causing data artifacts may occur at any time and often have durations significantly shorter than the data collection interval. We show that careful modeling of the sensor, combined with a general technique for detecting sub-interval events and estimating their duration, enables detection of artifacts and accurate estimation of the underlying blood pressure values. Our model's performance identifying artifacts is superior to two other classifiers' and about as good as a physician's.

We present the Gaussian Process Density Sampler (GPDS), an exchangeable generative model for use in nonparametric Bayesian density estimation. Samples drawn from the GPDS are consistent with exact, independent samples from a fixed density function that is a transformation of a function drawn from a Gaussian process prior. Our formulation allows us to infer an unknown density from data using Markov chain Monte Carlo, which gives samples from the posterior distribution over density functions and from the predictive distribution on data space. We can also infer the hyperparameters of the Gaussian process. We compare this density modeling technique to several existing techniques on a toy problem and a skull-reconstruction task.

We use graphical models and structure learning to explore how people learn policies in sequential decision making tasks. Studies of sequential decision-making in humans frequently find suboptimal performance relative to an ideal actor that knows the graph model that generates reward in the environment. We argue that the learning problem humans face also involves learning the graph structure for reward generation in the environment. We formulate the structure learning problem using mixtures of reward models, and solve the optimal action selection problem using Bayesian Reinforcement Learning. We show that structure learning in one and two armed bandit problems produces many of the qualitative behaviors deemed suboptimal in previous studies. Our argument is supported by the results of experiments that demonstrate humans rapidly learn and exploit new reward structure.