While optimal metareasoning is notoriously intractable, humans are nonetheless able to adaptively allocate their computational resources. A possible approximation that humans may use to do this is to only metareason over a finite set of cognitive systems that perform variable amounts of computation. The highly influential "dual-process" accounts of human cognition, which postulate the coexistence of a slow accurate system with a fast error-prone system, can be seen as a special case of this approximation. This raises two questions: how many cognitive systems should a bounded optimal agent be equipped with and what characteristics should those systems have? We investigate these questions in two settings: a one-shot decision between two alternatives, and planning under uncertainty in a Markov decision process. We find that the optimal number of systems depends on the variability of the environment and the costliness of metareasoning. Consistent with dual-process theories, we also find that when having two systems is optimal, then the first system is fast but error-prone and the second system is slow but accurate.

Structured knowledge about concepts plays an increasingly important role in areas such as information retrieval. The available ontologies and knowledge graphs that encode such conceptual knowledge, however, are inevitably incomplete. This observation has led to a number of methods that aim to automatically complete existing knowledge bases. Unfortunately, most existing approaches rely on black box models, e.g. formulated as global optimization problems, which makes it difficult to support the underlying reasoning process with intuitive explanations. In this paper, we propose a new method for knowledge base completion, which uses interpretable conceptual space representations and an explicit model for inductive inference that is closer to human forms of commonsense reasoning. Moreover, by separating the task of representation learning from inductive reasoning, our method is easier to apply in a wider variety of contexts. Finally, unlike optimization based approaches, our method can naturally be applied in settings where various logical constraints between the extensions of concepts need to be taken into account.

In this paper, we propose a biologically-plausible model to explain the emergence of motion tracking behaviour in early development using unsupervised learning. The model's training is biased by a concept called retinal constancy, which measures how similar visual contents are between successive frames. This biasing is similar to a reward in reinforcement learning, but is less explicit, as it modulates the model's learning rate instead of being a learning signal itself. The model is a two-layer deep network. The first layer learns to encode visual motion, and the second layer learns to relate that motion to gaze movements, which it perceives and creates through bi-directional nodes. By randomly generating gaze movements to traverse the local visual space, desirable correlations are developed between visual motion and the appropriate gaze to nullify that motion such that maximal retinal constancy is achieved. Biologically, this is similar to using saccades to look around and learning from moments where a target and the saccade move together such that the image stays the same on the retina, and developing smooth pursuit behaviour to perform this action in the future. Restricted Boltzmann machines are used to implement this model because they can form a deep belief network, perform online learning, and act generatively. These properties all have biological equivalents and coincide with the biological plausibility of using saccades as leverage to learn smooth pursuit. This method is unique because it uses general machine learning algorithms, and their inherent generative properties, to learn from real-world data. It also implements a biological theory, uses motion instead of recognition via local searches, without temporal filtering, and learns in a fully unsupervised manner. Its tracking performance after being trained on real-world images with simulated motion is compared to its tracking performance after being trained on natural video. Results show that this model is able to successfully follow targets in natural video, despite partial occlusions, scale changes, and nonlinear motion.

Spatial patterns embedded in human faces are crucial for differentiating posed expressions from spontaneous ones, yet they have not been thoroughly exploited in the literature. To tackle this problem, we present a generative model, i.e., Latent Regression Bayesian Network (LRBN), to effectively capture the spatial patterns embedded in facial landmark points to differentiate between posed and spontaneous facial expressions. The LRBN is a directed graphical model consisting of one latent layer and one visible layer. Due to the “explaining away“ effect in Bayesian networks, LRBN is able to capture both the dependencies among the latent variables given the observation and the dependencies among visible variables. We believe that such dependencies are crucial for faithful data representation. Specifically, during training, we construct two LRBNs to capture spatial patterns inherent in displacements of landmark points from spontaneous facial expressions and posed facial expressions respectively. During testing, the samples are classified into posed or spontaneous expressions according to their likelihoods on two models. Efficient learning and inference algorithms are proposed. Experimental results on two benchmark databases demonstrate the advantages of the proposed approach in modeling spatial patterns as well as its superior performance to the existing methods in differentiating between posed and spontaneous expressions.

For non-expert users, a textual query is the most popular and simple means for communicating with a retrieval or question answering system.However, there is a risk of receiving queries which do not match with the background knowledge.Query expansion and query rewriting are solutions for this problem but they are in danger of potentially yielding a large number of irrelevant words, which in turn negatively influences runtime as well as accuracy.In this paper, we propose a new method for automatic rewriting input queries on graph-structured RDF knowledge bases.We employ a Hidden Markov Model to determine the most suitable derived words from linguistic resources.We introduce the concept of triple-based co-occurrence for recognizing co-occurred words in RDF data.This model was bootstrapped with three statistical distributions.Our experimental study demonstrates the superiority of the proposed approach to the traditional n-gram model.

To operate in human-robot coexisting environments, intelligent robots need to simultaneously reason with commonsense knowledge and plan under uncertainty. Markov decision processes (MDPs) and partially observable MDPs (POMDPs), are good at planning under uncertainty toward maximizing long-term rewards; P-LOG, a declarative programming language under Answer Set semantics, is strong in commonsense reasoning. In this paper, we present a novel algorithm called iCORPP to dynamically reason about, and construct (PO)MDPs using P-LOG. iCORPP successfully shields exogenous domain attributes from (PO)MDPs, which limits computational complexity and enables (PO)MDPs to adapt to the value changes these attributes produce. We conduct a number of experimental trials using two example problems in simulation and demonstrate iCORPP on a real robot. Results show significant improvements compared to competitive baselines.

WiFi-SLAM aims to map WiFi signals within an unknown environment while simultaneously determining the location of a mobile device. This localization method has been extensively used in indoor, space, undersea, and underground environments. For the sake of accuracy, most methods label the signal readings against ground truth locations. However, this is impractical in large environments, where it is hard to collect and maintain the data. Some methods use latent variable models to generate latent-space locations of signal strength data, an advantage being that no prior labeling of signal strength readings and their physical locations is required. However, the generated latent variables cannot cover all wireless signal locations and WiFi-SLAM performance is significantly degraded. Here we propose the diversified generative latent variable model (DGLVM) to overcome these limitations. By building a positive-definite kernel function, a diversity-encouraging prior is introduced to render the generated latent variables non-overlapping, thus capturing more wireless signal measurements characteristics. The defined objective function is then solved by variational inference. Our experiments illustrate that the method performs WiFi localization more accurately than other label-free methods.

Human motor behavior is naturally guided by sensing the environment. To predict such sensori-motor behavior, it is necessary to model what is sensed and how actions are chosen based on the obtained sensory measurements. Although several models of human sensing haven been proposed, rarely data of the assumed sensory measurements is available. This makes statistical estimation of sensor models problematic. To overcome this issue, we propose an abstract structural estimation approach building on the ideas of Herman et al.'s Simultaneous Estimation of Rewards and Dynamics (SERD). Assuming optimal fusion of sensory information and rational choice of actions the proposed method allows to infer sensor models even in absence of data of the sensory measurements. To the best of our knowledge, this work presents the first general approach for joint inference of sensor and policy models. Furthermore, we consider its concrete implementation in the important class of sensor scheduling linear quadratic Gaussian problems. Finally, the effectiveness of the approach is demonstrated for prediction of the behavior of automobile drivers. Specifically, we model the glance and steering behavior of driving in the presence of visually demanding secondary tasks. The results show, that prediction benefits from the inference of sensor models. This is the case, especially, if also information is considered, that is contained in gaze switching behavior.

The formalism of multi-objective influence diagrams has recently been developed for modeling and solving sequential decision problems under uncertainty and multiple objectives. Since utility values representing the decision maker's preferences are only partially ordered (e.g., by the Pareto order) we no longer have a unique maximal value of expected utility, but a set of them. Computing the set of maximal values of expected utility and the corresponding policies can be computationally very challenging. In this paper, we consider alternative notions of optimality, one of the most important one being the notion of possibly optimal, namely optimal in at least one scenario compatible with the inter-objective tradeoffs. We develop a variable elimination algorithm for computing the set of possibly optimal expected utility values, prove formally its correctness, and compare variants of the algorithm experimentally.

Nonparametric inference techniques provide promising tools for probabilistic reasoning in high-dimensional nonlinear systems.Most of these techniques embed distributions into reproducing kernel Hilbert spaces (RKHS) and rely on the kernel Bayes' rule (KBR) to manipulate the embeddings. However, the computational demands of the KBR scale poorly with the number of samples and the KBR often suffers from numerical instabilities. In this paper, we present the kernel Kalman rule (KKR) as an alternative to the KBR.The derivation of the KKR is based on recursive least squares, inspired by the derivation of the Kalman innovation update.We apply the KKR to filtering tasks where we use RKHS embeddings to represent the belief state, resulting in the kernel Kalman filter (KKF).We show on a nonlinear state estimation task with high dimensional observations that our approach provides a significantly improved estimation accuracy while the computational demands are significantly decreased.