Robots operating in home environments must be able to interact with articulated objects such as doors or drawers.  Ideally, robots are able to autonomously infer articulation models by observation.  In this paper, we present an approach to learn kinematic models by inferring the connectivity of rigid parts and the articulation models for the corresponding links.  Our method uses a mixture of parameterized and parameter-free (Gaussian process) representations and finds low-dimensional manifolds that provide the best explanation of the given observations.  Our approach has been implemented and evaluated using real data obtained in various realistic home environment settings.

This paper investigates a generative history-based parsing model that synchronises the derivation of non-planar graphs representing semantic dependencies with the derivation of dependency trees representing syntactic structures. To process non-planarity online, the semantic transition-based parser uses a new technique to dynamically reorder nodes during the derivation. While the synchronised derivations allow different structures to be built for the semantic non-planar graphs and syntactic dependency trees, useful statistical dependencies between these structures are modeled using latent variables. The resulting synchronous parser achieves competitive performance on the CoNLL-2008 shared task, achieving relative error reduction of 12% in semantic F score over previously proposed synchronous models that cannot process non-planarity online.

Unsupervised learning of morphology is an important task for human learners and in natural language processing systems. Previous systems focus on segmenting words into substrings (taking ⇒ tak.ing), but sometimes a segmentation-only analysis is insufficient (e.g., taking may be more appropriately analyzed as take+ing, with a spelling rule accounting for the deletion of the stem-final e). In this paper, we develop a Bayesian model for simultaneously inducing both morphology and spelling rules. We show that the addition of spelling rules improves performance over the baseline morphology-only model.

Mechanical design tools would be considerably more useful if we could interact with them in the way that human designers communicate design ideas to one another, i.e., using crude sketches and informal speech. Those crude sketches frequently contain pen strokes of two different sorts, one type portraying device structure, the other denoting gestures, such as arrows used to indicate motion. We report here on techniques we developed that use information from both sketch and speech to distinguish gesture strokes from non-gestures -- a critical first step in understanding a sketch of a device. We collected and analyzed unconstrained device descriptions, which revealed six common types of gestures. Guided by this knowledge, we developed a classifier that uses both sketch and speech features to distinguish gesture strokes from non-gestures. Experiments with our techniques indicate that the sketch and speech modalities alone produce equivalent classification accuracy, but combining them produces higher accuracy.

PCA can be smarter and makes more sensible projections. In this paper, we propose smart PCA, an extension to standard PCA to regularize and incorporate external knowledge into model estimation. Based on the probabilistic interpretation of PCA, the inverse Wishart distribution can be used as the informative conjugate prior for the population covariance, and useful knowledge is carried by the prior hyperparameters. We design the hyperparameters to smoothly combine the information from both the domain knowledge and the data itself. The Bayesian point estimation of principal components is in closed form. In empirical studies, smart PCA shows clear improvement on three different criteria: image reconstruction errors, the perceptual quality of the reconstructed images, and the pattern recognition performance.

Event detection is a critical task in sensor networks for a variety of real-world applications. Many real-world events often exhibit complex spatio-temporal patterns whereby they manifest themselves via observations over time and space proximities. These spatio-temporal events cannot be handled well by many of the previous approaches. In this paper, we propose a new Spatio-Temporal Event Detection (STED) algorithm in sensor networks based on a dynamic conditional random field (DCRF) model. Our STED method handles the uncertainty of sensor data explicitly and permits neighborhood interactions in both observations and event labels. Experiments on both real data and synthetic data demonstrate that our STED method can provide accurate event detection in near real time even for large-scale sensor networks.

In this paper, we consider a general problem of semi-supervised preference learning, in which we assume that we have the information of the extreme cases and some ordered constraints, our goal is to learn the unknown preferences of the other places. Taking the potential housing place selection problem as an example, we have many candidate places together with their associated information (e.g., position, environment), and we know some extreme examples (i.e., several places are perfect for building a house, and several places are the worst that cannot build a house there), and we know some partially ordered constraints (i.e., for two places, which place is better), then how can we judge the preference of one potential place whose preference is unknown beforehand? We propose a Bayesian framework based on Gaussian process to tackle this problem, from which we not only solve for the unknown preferences, but also the hyperparameters contained in our model.

Gaussian Processes (GPs) are promising Bayesian methods for classification and regression problems. They have also been used for semi-supervised learning tasks. In this paper, we propose a new algorithm for solving semi-supervised binary classification problem using sparse GP regression (GPR) models. It is closely related to semi-supervised learning based on support vector regression (SVR) and maximum margin clustering. The proposed algorithm is simple and easy to implement. It gives a sparse solution directly unlike the SVR based algorithm. Also, the hyperparameters are estimated easily without resorting to expensive cross-validation technique. Use of sparse GPR model helps in making the proposed algorithm scalable. Preliminary results on synthetic and real-world data sets demonstrate the efficacy of the new algorithm.

There has been intense interest in hierarchical reinforcement learning as a way to make Markov decision process planning more tractable, but there has been relatively little work on autonomously learning the hierarchy, especially in continuous domains. In this paper we present a method for learning a hierarchy of actions in a continuous environment. Our approach is to learn a qualitative representation of the continuous environment and then to define actions to reach qualitative states. Our method learns one or more options to perform each action. Each option is learned by first learning a dynamic Bayesian network (DBN). We approach this problem from a developmental robotics perspective. The agent receives no extrinsic reward and has no external direction for what to learn. We evaluate our work using a simulation with realistic physics that consists of a robot playing with blocks at a table.

Extreme Components Analysis (XCA) is a statistical method based on a single eigenvalue decomposition to recover the optimal combination of principal and minor components in the data. Unfortunately, minor components are notoriously sensitive to overfitting when the number of data items is small relative to the number of attributes. We present a Bayesian extension of XCA by introducing a conjugate prior for the parameters of the XCA model. This Bayesian-XCA is shown to outperform plain vanilla XCA as well as Bayesian-PCA and XCA based on a frequentist correction to the sample spectrum. Moreover, we show that minor components are only picked when they represent genuine constraints in the data, even for very small sample sizes. An extension to mixtures of Bayesian XCA models is also explored.