We introduce CST, an algorithm for constructing skill trees from demonstration trajectories in continuous reinforcement learning domains. CST uses a changepoint detection method to segment each trajectory into a skill chain by detecting a change of appropriate abstraction, or that a segment is too complex to model as a single skill. The skill chains from each trajectory are then merged to form a skill tree. We demonstrate that CST constructs an appropriate skill tree that can be further refined through learning in a challenging continuous domain, and that it can be used to segment demonstration trajectories on a mobile manipulator into chains of skills where each skill is assigned an appropriate abstraction.

We study the problem of learning a sparse linear regression vector under additional conditions on the structure of its sparsity pattern. We present a family of convex penalty functions, which encode this prior knowledge by means of a set of constraints on the absolute values of the regression coefficients. This family subsumes the $\ell_1$ norm and is flexible enough to include different models of sparsity patterns, which are of practical and theoretical importance. We establish some important properties of these functions and discuss some examples where they can be computed explicitly. Moreover, we present a convergent optimization algorithm for solving regularized least squares with these penalty functions. Numerical simulations highlight the benefit of structured sparsity and the advantage offered by our approach over the Lasso and other related methods.

To understand the relationship between genomic variations among population and complex diseases, it is essential to detect eQTLs which are associated with phenotypic effects.However, detecting eQTLs remains a challenge due to complex underlying mechanisms and the very large number of genetic loci involved compared tothe number of samples. Thus, to address the problem, it is desirable to take advantage of the structure of the data and prior information about genomic locations such as conservation scores and transcription factor binding sites. In this paper, we propose a novel regularized regression approach for detecting eQTLs which takes into account related traits simultaneously while incorporating many regulatory features. We first present a Bayesian network for a multi-task learning problem that includes priors on SNPs, making it possible to estimate the significance of each covariate adaptively. Then we find the maximum a posteriori (MAP) estimation of regression coefficients and estimate weights of covariates jointly. This optimization procedure is efficient since it can be achieved by using aprojected gradient descent and a coordinate descent procedure iteratively. Experimental results on simulated and real yeast datasets confirm that our model outperforms previous methods for finding eQTLs.

Network models are widely used to capture interactions among component of complex systems, such as social and biological. To understand their behavior, it is often necessary to analyze functionally related components of the system, corresponding to subsystems. Therefore, the analysis of subnetworks may provide additional insight into the behavior of the system, not evident from individual components. We propose a novel approach for incorporating available network information into the analysis of arbitrary subnetworks. The proposed method offers an efficient dimension reduction strategy using Laplacian eigenmaps with Neumann boundary conditions, and provides a flexible inference framework for analysis of subnetworks, based on a group-penalized principal component regression model on graphs. Asymptotic properties of the proposed inference method, as well as the choice of the tuning parameter for control of the false positive rate are discussed in high dimensional settings. The performance of the proposed methodology is illustrated using simulated and real data examples from biology.

Multi-label classification is the task of predicting potentially multiple labels for a given instance. This is common in several applications such as image annotation, document classification and gene function prediction. In this paper we present a formulation for this problem based on reverse prediction: we predict sets of instances given the labels. By viewing the problem from this perspective, the most popular quality measures for assessing the performance of multi-label classification admit relaxations that can be efficiently optimised. We optimise these relaxations with standard algorithms and compare our results with several state-of-the-art methods, showing excellent performance.

We consider multivariate regression problems involving high-dimensional predictor and response spaces. To efficiently address such problems, we propose a variable selection method, Multivariate Group Orthogonal Matching Pursuit, which extends the standard Orthogonal Matching Pursuit technique to account for arbitrary sparsity patterns induced by domain-specific groupings over both input and output variables, while also taking advantage of the correlation that may exist between the multiple outputs. We illustrate the utility of this framework for inferring causal relationships over a collection of high-dimensional time series variables. When applied to time-evolving social media content, our models yield a new family of causality-based influence measures that may be seen as an alternative to PageRank. Theoretical guarantees, extensive simulations and empirical studies confirm the generality and value of our framework.

We propose a new nonparametric learning method based on multivariate dyadic regression trees (MDRTs). Unlike traditional dyadic decision trees (DDTs) or classification and regression trees (CARTs), MDRTs are constructed using penalized empirical risk minimization with a novel sparsity-inducing penalty. Theoretically, we show that MDRTs can simultaneously adapt to the unknown sparsity and smoothness of the true regression functions, and achieve the nearly optimal rates of convergence (in a minimax sense) for the class of $(\alpha, C)$-smooth functions. Empirically, MDRTs can simultaneously conduct function estimation and variable selection in high dimensions. To make MDRTs applicable for large-scale learning problems, we propose a greedy heuristics. The superior performance of MDRTs are demonstrated on both synthetic and real datasets.

Robust low-level image features have been proven to be effective representations for a variety of visual recognition tasks such as object recognition and scene classification; but pixels, or even local image patches, carry little semantic meanings. For high level visual tasks, such low-level image representations are potentially not enough. In this paper, we propose a high-level image representation, called the Object Bank, where an image is represented as a scale invariant response map of a large number of pre-trained generic object detectors, blind to the testing dataset or visual task. Leveraging on the Object Bank representation, superior performances on high level visual recognition tasks can be achieved with simple off-the-shelf classifiers such as logistic regression and linear SVM. Sparsity algorithms make our representation more efficient and scalable for large scene datasets, and reveal semantically meaningful feature patterns.

We consider the multiple linear regression problem, in a setting where some of the set of relevant features could be shared across the tasks. A lot of recent research has studied the use of $\ell_1/\ell_q$ norm block-regularizations with $q > 1$ for such (possibly) block-structured problems, establishing strong guarantees on recovery even under high-dimensional scaling where the number of features scale with the number of observations. However, these papers also caution that the performance of such block-regularized methods are very dependent on the {\em extent} to which the features are shared across tasks. Indeed they show~\citep{NWJoint} that if the extent of overlap is less than a threshold, or even if parameter {\em values} in the shared features are highly uneven, then block $\ell_1/\ell_q$ regularization could actually perform {\em worse} than simple separate elementwise $\ell_1$ regularization. We are far away from a realistic multi-task setting: not only do the set of relevant features have to be exactly the same across tasks, but their values have to as well. Here, we ask the question: can we leverage support and parameter overlap when it exists, but not pay a penalty when it does not? Indeed, this falls under a more general question of whether we can model such \emph{dirty data} which may not fall into a single neat structural bracket (all block-sparse, or all low-rank and so on). Here, we take a first step, focusing on developing a dirty model for the multiple regression problem. Our method uses a very simple idea: we decompose the parameters into two components and {\em regularize these differently.} We show both theoretically and empirically, our method strictly and noticeably outperforms both $\ell_1$ and $\ell_1/\ell_q$ methods, over the entire range of possible overlaps. We also provide theoretical guarantees that the method performs well under high-dimensional scaling.

Predicting the execution time of computer programs is an important but challenging problem in the community of computer systems. Existing methods require experts to perform detailed analysis of program code in order to construct predictors or select important features. We recently developed a new system to automatically extract a large number of features from program execution on sample inputs, on which prediction models can be constructed without expert knowledge. In this paper we study the construction of predictive models for this problem. We propose the SPORE (Sparse POlynomial REgression) methodology to build accurate prediction models of program performance using feature data collected from program execution on sample inputs. Our two SPORE algorithms are able to build relationships between responses (e.g., the execution time of a computer program) and features, and select a few from hundreds of the retrieved features to construct an explicitly sparse and non-linear model to predict the response variable. The compact and explicitly polynomial form of the estimated model could reveal important insights into the computer program (e.g., features and their non-linear combinations that dominate the execution time), enabling a better understanding of the program’s behavior. Our evaluation on three widely used computer programs shows that SPORE methods can give accurate prediction with relative error less than 7% by using a moderate number of training data samples. In addition, we compare SPORE algorithms to state-of-the-art sparse regression algorithms, and show that SPORE methods, motivated by real applications, outperform the other methods in terms of both interpretability and prediction accuracy.