We consider the problem of learning object arrangements in a 3D scene. The key idea here is to learn how objects relate to human poses based on their affordances, ease of use and reachability. In contrast to modeling object-object relationships, modeling human-object relationships scales linearly in the number of objects. We design appropriate density functions based on 3D spatial features to capture this. We learn the distribution of human poses in a scene using a variant of the Dirichlet process mixture model that allows sharing of the density function parameters across the same object types. Then we can reason about arrangements of the objects in the room based on these meaningful human poses. In our extensive experiments on 20 different rooms with a total of 47 objects, our algorithm predicted correct placements with an average error of 1.6 meters from ground truth. In arranging five real scenes, it received a score of 4.3/5 compared to 3.7 for the best baseline method.

We consider the problem of learning the optimal action-value function in the discounted-reward Markov decision processes (MDPs). We prove a new PAC bound on the sample-complexity of model-based value iteration algorithm in the presence of the generative model, which indicates that for an MDP with N state-action pairs and the discount factor \gamma\in[0,1) only O(N\log(N/\delta)/((1-\gamma)^3\epsilon^2)) samples are required to find an \epsilon-optimal estimation of the action-value function with the probability 1-\delta. We also prove a matching lower bound of \Theta (N\log(N/\delta)/((1-\gamma)^3\epsilon^2)) on the sample complexity of estimating the optimal action-value function by every RL algorithm. To the best of our knowledge, this is the first matching result on the sample complexity of estimating the optimal (action-) value function in which the upper bound matches the lower bound of RL in terms of N, \epsilon, \delta and 1/(1-\gamma). Also, both our lower bound and our upper bound significantly improve on the state-of-the-art in terms of 1/(1-\gamma).

As data sets grow in size, the ability of learning methods to find structure in them is increasingly hampered by the time needed to search the large spaces of possibilities and generate a score for each that takes all of the observed data into account. For instance, Bayesian networks, the model chosen in this paper, have a super-exponentially large search space for a fixed number of variables. One possible method to alleviate this problem is to use a proxy, such as a Gaussian Process regressor, in place of the true scoring function, training it on a selection of sampled networks. We prove here that the use of such a proxy is well-founded, as we can bound the smoothness of a commonly-used scoring function for Bayesian network structure learning. We show here that, compared to an identical search strategy using the network's exact scores, our proxy-based search is able to get equivalent or better scores on a number of data sets in a fraction of the time.

Bayesian reinforcement learning (BRL) encodes prior knowledge of the world in a model and represents uncertainty in model parameters by maintaining a probability distribution over them. This paper presents Monte Carlo BRL (MC-BRL), a simple and general approach to BRL. MC-BRL samples a priori a finite set of hypotheses for the model parameter values and forms a discrete partially observable Markov decision process (POMDP) whose state space is a cross product of the state space for the reinforcement learning task and the sampled model parameter space. The POMDP does not require conjugate distributions for belief representation, as earlier works do, and can be solved relatively easily with point-based approximation algorithms. MC-BRL naturally handles both fully and partially observable worlds. Theoretical and experimental results show that the discrete POMDP approximates the underlying BRL task well with guaranteed performance.

Visual perception is a challenging problem in part due to illumination variations. A possible solution is to first estimate an illumination invariant representation before using it for recognition. The object albedo and surface normals are examples of such representations. In this paper, we introduce a multilayer generative model where the latent variables include the albedo, surface normals, and the light source. Combining Deep Belief Nets with the Lambertian reflectance assumption, our model can learn good priors over the albedo from 2D images. Illumination variations can be explained by changing only the lighting latent variable in our model. By transferring learned knowledge from similar objects, albedo and surface normals estimation from a single image is possible in our model. Experiments demonstrate that our model is able to generalize as well as improve over standard baselines in one-shot face recognition.

We examine the problem of learning a probabilistic model for melody directly from musical sequences belonging to the same genre. This is a challenging task as one needs to capture not only the rich temporal structure evident in music, but also the complex statistical dependencies among different music components. To address this problem we introduce the Variable-gram Topic Model, which couples the latent topic formalism with a systematic model for contextual information. We evaluate the model on next-step prediction. Additionally, we present a novel way of model evaluation, where we directly compare model samples with data sequences using the Maximum Mean Discrepancy of string kernels, to assess how close is the model distribution to the data distribution. We show that the model has the highest performance under both evaluation measures when compared to LDA, the Topic Bigram and related non-topic models.

Traditional approaches to ranking in web search follow the paradigm of rank-by-score: a learned function gives each query-URL combination an absolute score and URLs are ranked according to this score. This paradigm ensures that if the score of one URL is better than another then one will always be ranked higher than the other. Scoring contradicts prior work in behavioral economics that showed that users' preferences between two items depend not only on the items but also on the presented alternatives. Thus, for the same query, users' preference between items A and B depends on the presence/absence of item C. We propose a new model of ranking, the Random Shopper Model, that allows and explains such behavior. In this model, each feature is viewed as a Markov chain over the items to be ranked, and the goal is to find a weighting of the features that best reflects their importance. We show that our model can be learned under the empirical risk minimization framework, and give an efficient learning algorithm. Experiments on commerce search logs demonstrate that our algorithm outperforms scoring-based approaches including regression and listwise ranking.

Natural image statistics exhibit hierarchical dependencies across multiple scales. Representing such prior knowledge in non-factorial latent tree models can boost performance of image denoising, inpainting, deconvolution or reconstruction substantially, beyond standard factorial "sparse" methodology. We derive a large scale approximate Bayesian inference algorithm for linear models with non-factorial (latent tree-structured) scale mixture priors. Experimental results on a range of denoising and inpainting problems demonstrate substantially improved performance compared to MAP estimation or to inference with factorial priors.

In this paper we propose a unified framework for structured prediction with latent variables which includes hidden conditional random fields and latent structured support vector machines as special cases. We describe a local entropy approximation for this general formulation using duality, and derive an efficient message passing algorithm that is guaranteed to converge. We demonstrate its effectiveness in the tasks of image segmentation as well as 3D indoor scene understanding from single images, showing that our approach is superior to latent structured support vector machines and hidden conditional random fields.

The contractive auto-encoder learns a representation of the input data that captures the local manifold structure around each data point, through the leading singular vectors of the Jacobian of the transformation from input to representation. The corresponding singular values specify how much local variation is plausible in directions associated with the corresponding singular vectors, while remaining in a high-density region of the input space. This paper proposes a procedure for generating samples that are consistent with the local structure captured by a contractive auto-encoder. The associated stochastic process defines a distribution from which one can sample, and which experimentally appears to converge quickly and mix well between modes, compared to Restricted Boltzmann Machines and Deep Belief Networks. The intuitions behind this procedure can also be used to train the second layer of contraction that pools lower-level features and learns to be invariant to the local directions of variation discovered in the first layer. We show that this can help learn and represent invariances present in the data and improve classification error.