We introduce a nonparametric approach for estimating drift functions in systems of stochastic differential equations from incomplete observations of the state vector. Using a Gaussian process prior over the drift as a function of the state vector, we develop an approximate EM algorithm to deal with the unobserved, latent dynamics between observations. The posterior over states is approximated by a piecewise linearized process and the MAP estimation of the drift is facilitated by a sparse Gaussian process regression.

Human eye movements provide a rich source of information into the human visual processing. The complex interplay between the task and the visual stimulus is believed to determine human eye movements, yet it is not fully understood. This has precluded the development of reliable dynamic eye movement prediction systems. Our work makes three contributions towards addressing this problem. First, we complement one of the largest and most challenging static computer vision datasets, VOC 2012 Actions, with human eye movement annotations collected under the task constraints of action and context recognition. Our dataset is unique among eyetracking datasets for still images in terms of its large scale (over 1 million fixations, 9157 images), task control and action from a single image emphasis. Second, we introduce models to automatically discover areas of interest (AOI) and introduce novel dynamic consistency metrics, based on them. Our method can automatically determine the number and spatial support of the AOIs, in addition to their locations. Based on such encodings, we show that, on unconstrained read-world stimuli, task instructions have significant influence on visual behavior. Finally, we leverage our large scale dataset in conjunction with powerful machine learning techniques and computer vision features, to introduce novel dynamic eye movement prediction methods which learn task-sensitive reward functions from eye movement data and efficiently integrate these rewards to plan future saccades based on inverse optimal control. We show that the propose methodology achieves state of the art scanpath modeling results.

This paper presents an approach to multilabel classification (MLC) with a large number of labels. Our approach is a reduction to binary classification in which label sets are represented by low dimensional binary vectors. This representation follows the principle of Bloom filters, a space-efficient data structure originally designed for approximate membership testing. We show that a naive application of Bloom filters in MLC is not robust to individual binary classifiers' errors. We then present an approach that exploits a specific feature of real-world datasets when the number of labels is large: many labels (almost) never appear together. Our approch is provably robust, has sublinear training and inference complexity with respect to the number of labels, and compares favorably to state-of-the-art algorithms on two large scale multilabel datasets.

Gaussian Graphical Models (GGMs) or Gauss Markov random fields are widely used in many applications, and the trade-off between the modeling capacity and the efficiency of learning and inference has been an important research problem. In this paper, we study the family of GGMs with small feedback vertex sets (FVSs), where an FVS is a set of nodes whose removal breaks all the cycles. Exact inference such as computing the marginal distributions and the partition function has complexity $O(k^{2}n)$ using message-passing algorithms, where k is the size of the FVS, and n is the total number of nodes. We propose efficient structure learning algorithms for two cases: 1) All nodes are observed, which is useful in modeling social or flight networks where the FVS nodes often correspond to a small number of high-degree nodes, or hubs, while the rest of the networks is modeled by a tree. Regardless of the maximum degree, without knowing the full graph structure, we can exactly compute the maximum likelihood estimate in $O(kn^2+n^2\log n)$ if the FVS is known or in polynomial time if the FVS is unknown but has bounded size. 2) The FVS nodes are latent variables, where structure learning is equivalent to decomposing a inverse covariance matrix (exactly or approximately) into the sum of a tree-structured matrix and a low-rank matrix. By incorporating efficient inference into the learning steps, we can obtain a learning algorithm using alternating low-rank correction with complexity $O(kn^{2}+n^{2}\log n)$ per iteration. We also perform experiments using both synthetic data as well as real data of flight delays to demonstrate the modeling capacity with FVSs of various sizes. We show that empirically the family of GGMs of size $O(\log n)$ strikes a good balance between the modeling capacity and the efficiency.

Tensor completion from incomplete observations is a problem of significant practical interest. However, it is unlikely that there exists an efficient algorithm with provable guarantee to recover a general tensor from a limited number of observations. In this paper, we study the recovery algorithm for pairwise interaction tensors, which has recently gained considerable attention for modeling multiple attribute data due to its simplicity and effectiveness. Specifically, in the absence of noise, we show that one can exactly recover a pairwise interaction tensor by solving a constrained convex program which minimizes the weighted sum of nuclear norms of matrices from $O(nr\log^2(n))$ observations. For the noisy cases, we also prove error bounds for a constrained convex program for recovering the tensors. Our experiments on the synthetic dataset demonstrate that the recovery performance of our algorithm agrees well with the theory. In addition, we apply our algorithm on a temporal collaborative filtering task and obtain state-of-the-art results.

We propose an efficient Bayesian nonparametric model for discovering hierarchical community structure in social networks. Our model is a tree-structured mixture of potentially exponentially many stochastic blockmodels. We describe a family of greedy agglomerative model selection algorithms whose worst case scales quadratically in the number of vertices of the network, but independent of the number of communities. Our algorithms are two orders of magnitude faster than the infinite relational model, achieving comparable or better accuracy.

We propose a boosting method, DirectBoost, a greedy coordinate descent algorithm that builds an ensemble classifier of weak classifiers through directly minimizing empirical classification error over labeled training examples; once the training classification error is reduced to a local coordinatewise minimum, DirectBoost runs a greedy coordinate ascent algorithm that continuously adds weak classifiers to maximize any targeted arbitrarily defined margins until reaching a local coordinatewise maximum of the margins in a certain sense. Experimental results on a collection of machine-learning benchmark datasets show that DirectBoost gives consistently better results than AdaBoost, LogitBoost, LPBoost with column generation and BrownBoost, and is noise tolerant when it maximizes an n'th order bottom sample margin.

We present a novel MCMC sampler for Dirichlet process mixture models that can be used for conjugate or non-conjugate prior distributions. The proposed sampler can be massively parallelized to achieve significant computational gains. A non-ergodic restricted Gibbs iteration is mixed with split/merge proposals to produce a valid sampler. Each regular cluster is augmented with two sub-clusters to construct likely split moves. Unlike many previous parallel samplers, the proposed sampler accurately enforces the correct stationary distribution of the Markov chain without the need for approximate models. Empirical results illustrate that the new sampler exhibits better convergence properties than current methods.

We consider the problem of learning good trajectories for manipulation tasks. This is challenging because the criterion defining a good trajectory varies with users, tasks and environments. In this paper, we propose a co-active online learning framework for teaching robots the preferences of its users for object manipulation tasks. The key novelty of our approach lies in the type of feedback expected from the user: the human user does not need to demonstrate optimal trajectories as training data, but merely needs to iteratively provide trajectories that slightly improve over the trajectory currently proposed by the system. We argue that this co-active preference feedback can be more easily elicited from the user than demonstrations of optimal trajectories, which are often challenging and non-intuitive to provide on high degrees of freedom manipulators. Nevertheless, theoretical regret bounds of our algorithm match the asymptotic rates of optimal trajectory algorithms. We also formulate a score function to capture the contextual information and demonstrate the generalizability of our algorithm on a variety of household tasks, for whom, the preferences were not only influenced by the object being manipulated but also by the surrounding environment.

Robust PCA methods are typically based on batch optimization and have to load all the samples into memory. This prevents them from efficiently processing big data. In this paper, we develop an Online Robust Principal Component Analysis (OR-PCA) that processes one sample per time instance and hence its memory cost is independent of the data size, significantly enhancing the computation and storage efficiency. The proposed method is based on stochastic optimization of an equivalent reformulation of the batch RPCA method. Indeed, we show that OR-PCA provides a sequence of subspace estimations converging to the optimum of its batch counterpart and hence is provably robust to sparse corruption. Moreover, OR-PCA can naturally be applied for tracking dynamic subspace. Comprehensive simulations on subspace recovering and tracking demonstrate the robustness and efficiency advantages of the OR-PCA over online PCA and batch RPCA methods.