Inventory monitoring in homes, factories, and retail stores relies on maintaining data despite objects being swapped, added, removed, or moved. We introduce Lifelong LERF, a method that allows a mobile robot with minimal compute to jointly optimize a dense language and geometric representation of its surroundings. Lifelong LERF maintains this representation over time by detecting semantic changes and selectively updating these regions of the environment, avoiding the need to exhaustively remap. Human users can query inventory by providing natural language queries and receiving a 3D heatmap of potential object locations. To manage the computational load, we use Fog-ROS2, a cloud robotics platform, to offload resource-intensive tasks. Lifelong LERF obtains poses from a monocular RGBD SLAM backend, and uses these poses to progressively optimize a Language Embedded Radiance Field (LERF) for semantic monitoring. Experiments with 3-5 objects arranged on a tabletop and a Turtlebot with a RealSense camera suggest that Lifelong LERF can persistently adapt to changes in objects with up to 91% accuracy.

Modern classification tasks usually involve many class labels and can be informed by a broad range of features. Many of these tasks are tackled by constructing a set of classifiers, which are then applied at test time and then pieced together in a fixed procedure determined in advance or at training time. We present an active classification process at the test time, where each classifier in a large ensemble is viewed as a potential observation that might inform our classification process. Observations are then selected dynamically based on previous observations, using a value-theoretic computation that balances an estimate of the expected classification gain from each observation as well as its computational cost. The expected classification gain is computed using a probabilistic model that uses the outcome from previous observations. This active classification process is applied at test time for each individual test instance, resulting in an efficient instance-specific decision path. We demonstrate the benefit of the active scheme on various real-world datasets, and show that it can achieve comparable or even higher classification accuracy at a fraction of the computational costs of traditional methods.

In discrete undirected graphical models, the conditional independence of node labels Y is specified by the graph structure. We study the case where there is another input random vector X (e.g.

We address the problem of estimating the difference between two probability densities. A naive approach is a two-step procedure of first estimating two densities separately and then computing their difference. However, such a two-step procedure does not necessarily work well because the first step is performed without regard to the second step and thus a small estimation error incurred in the first stage can cause a big error in the second stage. In this paper, we propose a single-shot procedure for directly estimating the density difference without separately estimating two densities. We derive a non-parametric finite-sample error bound for the proposed single-shot density-difference estimator and show that it achieves the optimal convergence rate.

In many applications, classification systems often require human intervention in the loop. In such cases the decision process must be transparent and comprehensible, simultaneously requiring minimal assumptions on the underlying data distributions. To tackle this problem, we formulate an axis-aligned subspace-finding task under the assumption that query specific information dictates the complementary use of the subspaces. We develop a regression-based approach called RECIP that efficiently solves this problem by finding projections that minimize a nonparametric conditional entropy estimator. Experiments show that the method is accurate in identifying the informative projections of the dataset, picking the correct views to classify query points, and facilitates visual evaluation by users.

We propose a high dimensional semiparametric scale-invariant principle component analysis, named TCA, by utilize the natural connection between the elliptical distribution family and the principal component analysis. Elliptical distribution family includes many well-known multivariate distributions like multivariate Gaussian, t and logistic and it is extended to the meta-elliptical by Fang et.al (2002) using the copula techniques. In this paper we extend the meta-elliptical distribution family to a even larger family, called transelliptical. We prove that TCA can obtain a near-optimal s log d/n estimation consistency rate in recovering the leading eigenvector of the latent generalized correlation matrix under the transelliptical distribution family, even if the distributions are very heavy-tailed, have infinite second moments, do not have densities and possess arbitrarily continuous marginal distributions. A feature selection result with explicit rate is also provided. TCA is further implemented in both numerical simulations and largescale stock data to illustrate its empirical usefulness. Both theories and experiments confirm that TCA can achieve model flexibility, estimation accuracy and robustness at almost no cost.

Given their pervasive use, social media, such as Twitter, have become a leading source of breaking news. A key task in the automated identification of such news is the detection of novel documents from a voluminous stream of text documents in a scalable manner.

Crowdsourcing has become a popular paradigm for labeling large datasets. However, it has given rise to the computational task of aggregating the crowdsourced labels provided by a collection of unreliable annotators. We approach this problem by transforming it into a standard inference problem in graphical models, and applying approximate variational methods, including belief propagation (BP) and mean field (MF). We show that our BP algorithm generalizes both majority voting and a recent algorithm by Karger et al. [1], while our MF method is closely related to a commonly used EM algorithm. In both cases, we find that the performance of the algorithms critically depends on the choice of a prior distribution on the workers' reliability; by choosing the prior properly, both BP and MF (and EM) perform surprisingly well on both simulated and real-world datasets, competitive with state-of-the-art algorithms based on more complicated modeling assumptions.

This paper provides the first --to the best of our knowledge-- analysis of online learning algorithms for multiclass problems when the confusion matrix is taken as a performance measure. The work builds upon recent and elegant results on noncommutative concentration inequalities, i.e. concentration inequalities that apply to matrices, and, more precisely, to matrix martingales. We do establish generalization bounds for online learning algorithms and show how the theoretical study motivates the proposition of a new confusion-friendly learning procedure. This learning algorithm, called COPA (for COnfusion Passive-Aggressive) is a passive-aggressive learning algorithm; it is shown that the update equations for COPA can be computed analytically and, henceforth, there is no need to recourse to any optimization package to implement it.

We introduce a new learning algorithm, named smooth-projected neighborhood pursuit, for estimating high dimensional undirected graphs. In particularly, we focus on the nonparanormal graphical model and provide theoretical guarantees for graph estimation consistency. In addition to new computational and theoretical analysis, we also provide an alternative view to analyze the tradeoff between computational efficiency and statistical error under a smoothing optimization framework. Numerical results on both synthetic and real datasets are provided to support our theory.