Bootstrap Voting Experts (BVE) is an extension to the Voting Experts algorithm for unsupervised chunking of sequences. BVE generates a series of segmentations, each of which incorporates knowledge gained from the previous segmentation. We show that this method of bootstrapping improves the performance of Voting Experts in a variety of unsupervised word segmentation scenarios, and generally improves both precision and recall of the algorithm. We also show that Minimum Description Length (MDL) can be used to choose nearly optimal parameters for Voting Experts in an unsupervised manner.

Here novelty detection identifies salient image features to guide autonomous robotic exploration.  There is little advance knowledge of the features in the scene or the proportion that should count as outliers.  A new algorithm addresses this ambiguity by modeling novel data in advance and characterizing regular data at run time.  Detection thresholds adapt dynamically to reduce misclassification risk while accommodating homogeneous and heterogeneous scenes.  Experiments demonstrate the technique on a representative set of navigation images from the Mars Exploration Rover "Opportunity."  An efficient image analysis procedure filters each image using the integral transform.  Pixel-level features are aggregated into covariance descriptors that represent larger regions.  Finally, a distance metric derived from generalized eigenvalues permits novelty detection with kernel density estimation.  Results suggest that exploiting training examples of novel data can improve performance in this domain.

Road network information simplifies autonomous driving by providing strong priors about environments. It informs a robotic vehicle with where it can drive, models of what can be expected, and contextual cues that influence driving behaviors. Currently, however, road network information is manually generated using a combination of GPS survey and aerial imagery. These manual techniques are labor intensive and error prone. To full exploit the benefits of digital imagery, these processes should be automated. As a step toward this goal, we present an algorithm that extracts the structure of parking lot visible from a given aerial image. To minimize human intervention in the use of aerial imagery, we devise a self-supervised learning algorithm that automatically generates a set of parking spot templates to learn the appearance of a parking lot and estimates the structure of the parking lot from the learned model. The data set extracted from a single image alone is too small to sufficiently learn an accurate parking spot model. However, strong priors trained using large data sets collected across multiple images dramatically improvce performance. Our self-supervised approach outperforms the prior alone by adapting the distribution of examples toward that found in the current image. A thorough empirical analysis compares leading state-of-the-art learning techniques on this problem.

Question-answer pairs extracted from email threads can help construct summaries of the thread, as well as inform semantic-based assistance with email. Previous work dedicated to email threads extracts only questions in interrogative form. We extend the scope of question and answer detection and pairing to encompass also questions in imperative and declarative forms, and to operate at sentence-level fidelity. Building on prior work, our methods are based on learned models over a set of features that include the content, context, and structure of email threads. For two large email corpora, we show that our methods balance precision and recall in extracting question-answer pairs, while maintaining a modest computation time.

Dialogue-based Question Answering (QA) is a highly complex task that brings together a QA system including various natural language processing components (i.e., components for question classification, information extraction, and retrieval) with dialogue systems for effective and natural communication. The dialogue-based access is difficult to establish when the QA system in use is complex and combines many different answer services with different quality and access characteristics. For example, some questions are processed by opendomain QA services with a broad coverage. Others should be processed by using a domain-specific instance ontology for more reliable answers. Different answer services may change their characteristics over time and the dialogue reaction models have to be updated according to that. To solve this problem, we developed introspective methods to integrate adaptable models of the answer services. We evaluated the impact of the learned models on the dialogue performance, i.e., whether the adaptable models can be used for a more convenient dialogue formulation process. We show significant effectiveness improvements in the resulting dialogues when using the machine learning (ML) models. Examples are provided in the context of the generation of system-initiative feedback to user questions and answers, as provided by heterogeneous information services.

Assigning significance in high-dimensional regression is challenging. Most computationally efficient selection algorithms cannot guard against inclusion of noise variables. Asymptotically valid p-values are not available. An exception is a recent proposal by Wasserman and Roeder (2008) which splits the data into two parts. The number of variables is then reduced to a manageable size using the first split, while classical variable selection techniques can be applied to the remaining variables, using the data from the second split. This yields asymptotic error control under minimal conditions. It involves, however, a one-time random split of the data. Results are sensitive to this arbitrary choice: it amounts to a `p-value lottery' and makes it difficult to reproduce results. Here, we show that inference across multiple random splits can be aggregated, while keeping asymptotic control over the inclusion of noise variables. We show that the resulting p-values can be used for control of both family-wise error (FWER) and false discovery rate (FDR). In addition, the proposed aggregation is shown to improve power while reducing the number of falsely selected variables substantially.

Many regression problems involve not one but several response variables (y's). Often the responses are suspected to share a common underlying structure, in which case it may be advantageous to share information across them; this is known as multitask learning. As a special case, we can use multiple responses to better identify shared predictive features -- a project we might call multitask feature selection. This thesis is organized as follows. Section 1 introduces feature selection for regression, focusing on ell_0 regularization methods and their interpretation within a Minimum Description Length (MDL) framework. Section 2 proposes a novel extension of MDL feature selection to the multitask setting. The approach, called the "Multiple Inclusion Criterion" (MIC), is designed to borrow information across regression tasks by more easily selecting features that are associated with multiple responses. We show in experiments on synthetic and real biological data sets that MIC can reduce prediction error in settings where features are at least partially shared across responses. Section 3 surveys hypothesis testing by regression with a single response, focusing on the parallel between the standard Bonferroni correction and an MDL approach. Mirroring the ideas in Section 2, Section 4 proposes a novel MIC approach to hypothesis testing with multiple responses and shows that on synthetic data with significant sharing of features across responses, MIC sometimes outperforms standard FDR-controlling methods in terms of finding true positives for a given level of false positives. Section 5 concludes.

Empirical testing is a very popular evaluation method for the development of intelligent systems. Here, previously solved problems with correct solutions are given as cases to the system. Validity is tested by comparing the expected results with the derived solutions. Besides classic forms of boolean testing of occurring solutions more refined methods are required for a thorough evaluation of real world knowledge systems. We present extended precision and recall functions for interactive knowledge systems that are generalizations of the existing measures. Additionally, we propose a visualization method for inspecting the validation result for interactive systems. A case study with a second-opinion system from the medical domain demonstrates the usefulness of the approach.

Analogical reasoning is considered as one of the main mechanisms underlying creativity. "Thinking out of the box" allows the paradigm shift essential to a creative process. More common is the concept of analogical proportion ("2 is to 4 as 4 is to 8") which can be described within an algebraic framework. When it comes to concepts ("engine is to the car as heart is to the human"), we need to investigate a new way to understand this analogical ratio. In this paper, we take inspiration from the formal framework of information theory for proposing a new approach to the evaluation of analogy between concepts. Using Kolmogorov complexity as a backbone providing a clear semantics, we give a practical interpretation for analogy between words viewed as labeling concepts. Making use of Google as a linguistic resource, we provide an implementation of our definitions: experiments show that the accuracy of our definition is quite acceptable and justify the approach.

As robots become more common, it becomes increasingly useful for them to communicate and effectively share knowledge that they have learned through their individual experiences.  Learning from experiences, however, is often-times embodiment-specific; that is, the knowledge learned is grounded in the robot’s unique sensors and actuators.  This type of learning raises questions as to how communication and knowledge exchange via social interaction can occur, as properties of the world can be grounded differently in different robots.  This is especially true when the robots are heterogeneous, with different sensors and perceptual features used to define the properties.  In this paper, we present methods and representations that allow heterogeneous robots to learn grounded property representations, such as that of color categories, and then build models of their similarities and differences in order to map their respective representations.  We use a conceptual space representation, where object properties are learned and represented as regions in a metric space, implemented via supervised learning of Gaussian Mixture Models.  We then propose to use confusion matrices that are built using instances from each robot, obtained in a shared context, in order to learn mappings between the properties of each robot.  Results are demonstrated using two perceptually heterogeneous Pioneer robots, one with a web camera and another with a camcorder.