Inverse optimal control (IOC) is a powerful approach for learning robotic controllers from demonstration that estimates a cost function which rationalizes demonstrated control trajectories. Unfortunately, its applicability is difficult in settings where optimal control can only be solved approximately. While local IOC approaches have been shown to successfully learn cost functions in such settings, they rely on the availability of good reference trajectories, which might not be available at test time. We address the problem of using IOC in these computationally challenging control tasks by using a graph-based discretization of the trajectory space. Our approach projects continuous demonstrations onto this discrete graph, where a cost function can be tractably learned via IOC. Discrete control trajectories from the graph are then projected back to the original space and locally optimized using the learned cost function. We demonstrate the effectiveness of the approach with experiments conducted on two 7-degree of freedom robotic arms.

In practical applications, it is often observed that high-dimensional features can yield good performance, while being more costly in both computation and storage. In this paper, we propose a novel method called Bayesian Hashing to learn an optimal Hamming embedding of high-dimensional features, with a focus on the challenging application of face recognition. In particular, a boosted random FERNs classification model is designed to perform efficient face recognition, in which bit correlations are elaborately approximated with a random permutation technique. Without incurring additional storage cost, multiple random permutations are then employed to train a series of classifiers for achieving better discrimination power. In addition, we introduce a sequential forward floating search (SFFS) algorithm to perform model selection, resulting in further performance improvement. Extensive experimental evaluations and comparative studies clearly demonstrate that the proposed Bayesian Hashing approach outperforms other peer methods in both accuracy and speed. We achieve state-of-the-art results on well-known face recognition benchmarks using compact binary codes with significantly reduced computational overload and storage cost.

In this paper, we formulate a sparse optimization framework for extractive document summarization. The proposed framework has a decomposable convex objective function. We derive an efficient ADMM algorithm to solve it. To encourage diversity in the summaries, we explicitly introduce an additional sentence dissimilarity term in the optimization framework. We achieve significant improvement over previous related work under similar data reconstruction framework. We then generalize our formulation to the case of compressive summarization and derive a block coordinate descent algorithm to optimize the objective function. Performance on DUC 2006 and DUC 2007 datasets shows that our compressive summarization results are competitive against the state-of-the-art results while maintaining reasonable readability.

It is notable In real world applications, data are often with multiple that strong modal features can lead to a better performance, modalities. Previous works assumed that each nevertheless, are more expensive, therefore a group of serialized modality contains sufficient information for target feature extraction methods were proposed. These methods and can be treated with equal importance. However, extract weak modal features firstly, and then extract more it is often that different modalities are of various strong modal features gradually to improve the performance importance in real tasks, e.g., the facial feature and reduce the overall cost as well. Marcialis et al.[2010] proposed is weak modality and the fingerprint feature is a serial fusion technique for multiple biometric modal strong modality in ID recognition. In this paper, we features through extracting gaits information and face information point out that different modalities should be treated step by step; Zhang et al.[2014] addressed the serialized with different strategies and propose the Auxiliary multi-modal learning techniques in a semi-supervised information Regularized Machine (ARM), which learning scenario. These methods handle strong and weak works by extracting the most discriminative feature modalities independently while leaving the fact of unsatisfied subspace of weak modality while regularizing the performance on weak modality unexplained.

The overwhelming amount of short text data on social media and elsewhere has posed great challenges to topic modeling due to the sparsity problem. Most existing attempts to alleviate this problem resort to heuristic strategies to aggregate short texts into pseudo-documents before the application of standard topic modeling. Although such strategies cannot be well generalized to more general genres of short texts, the success has shed light on how to develop a generalized solution. In this paper, we present a novel model towards this goal by integrating topic modeling with short text aggregation during topic inference. The aggregation is founded on general topical affinity of texts rather than particular heuristics, making the model readily applicable to various short texts. Experimental results on real-world datasets validate the effectiveness of this new model, suggesting that it can distill more meaningful topics from short texts.

Reordering model adaptation remains a big challenge in statistical machine translation because reordering patterns of translation units often vary dramatically from one domain to another. In this paper, we propose a novel adaptive discriminative reordering model (DRM) based on structural learning, which can capture correspondences among reordering features from two different domains. Exploiting both in-domain and out-of-domain monolingual corpora, our model learns a shared feature representation for cross-domain phrase reordering. Incorporating features of this representation, the DRM trained on out-of-domain corpus generalizes better to in-domain data. Experiment results on the NIST Chinese-English translation task show that our approach significantly outperforms a variety of baselines.

Solving multi-manifolds clustering problems that include delineating and resolving multiple intersections is a very challenging problem. In this paper we propose a novel procedure for clustering intersecting multi-manifolds and delineating junctions in high dimensional spaces. We propose to explicitly and directly resolve ambiguities near the intersections by using 2 properties: One is the position of the data points in the vicinity of the detected intersection; the other is the reliable estimation of the tangent spaces away from the intersections. We experiment with our method on a wide range of geometrically complex settings of convoluted intersecting manifolds, on which we demon- strate higher clustering performance than the state of the art. This includes tackling challenging geometric structures such as when the tangent spaces at the intersections points are not orthogonal.

We present a novel model-metric co-learning (MMCL) methodology for sequence classification which learns in the model space -- each data item (sequence) is represented by a predictive model from a carefully designed model class. MMCL learning encourages sequences from the same class to be represented by ‘close’ model representations, well separated from those for different classes. Existing approaches to the problem either fit a single model to all the data, or a (predominantly linear) model on each sequence. We introduce a novel hybrid approach spanning the two extremes. The model class we use is a special form of adaptive high-dimensional non-linear state space model with a highly constrained and simple dynamic part. The dynamic part is identical for all data items and acts as a temporal filter providing a rich pool of dynamic features that can be selectively extracted by individual (static) linear readout mappings representing the sequences. Alongside learning the dynamic part, we also learn the global metric in the model readout space. Experiments on synthetic and benchmark data sets confirm the effectiveness of the algorithm compared to a variety of alternative methods.

The k-means algorithm is one of the most often used method for data clustering. However, the standard k-means can only be applied in the original feature space. The kernel k-means, which extends k-means into the kernel space, can be used to capture the non-linear structure and identify arbitrarily shaped clusters. Since both the standard k-means and kernel k-means apply the squared error to measure the distances between data points and cluster centers, a few outliers will cause large errors and dominate the objection function. Besides, the performance of kernel method is largely determined by the choice of kernel. Unfortunately, the most suitable kernel for a particular task is often unknown in advance. In this paper, we first present a robust k-means using l 2,1 -norm in the feature space and then extend it to the kernel space. To recap the powerfulness of kernel methods, we further propose a novel robust multiple kernel k-means (RMKKM) algorithm that simultaneously finds the best clustering label, the cluster membership and the optimal combination of multiple kernels. An alternating iterative schema is developed to find the optimal value. Extensive experiments well demonstrate the effectiveness of the proposed algorithms.

Learning from crowds , where the labels of data instances are collected using a crowdsourcing way, has attracted much attention during the past few years. In contrast to a typical crowdsourcing setting where all data instances are assigned to annotators for labeling,  active learning from crowds actively selects a subset of data instances and assigns them to the annotators, thereby reducing the cost of labeling. This paper goes a step further. Rather than assume all annotators must provide labels, we allow the annotators to express that they are unsure about the assigned data instances. By adding the “unsure” option, the workloads for the annotators are somewhat reduced, because saying “unsure” will be easier than trying to provide a crisp label for some difficult data instances. Moreover, it is safer to use “unsure” feedback than to use labels from reluctant annotators because the latter has more chance to be misleading. Furthermore, different annotators may experience difficulty in different data instances, and thus the unsure option provides a valuable ingredient for modeling crowds’ expertise. We propose the ALCU-SVM algorithm for this new learning problem. Experimental studies on simulated and real crowdsourcing data show that, by exploiting the unsure option, ALCU-SVM achieves very promising performance.