In many situations, Miniature Aerial Vehicles (MAVs) are limited to using only on-board sensors for navigation. This limits the data available to algorithms used for stabilization and localization, and current control methods are often insufficient to allow reliable hovering in place or trajectory following. In this research, we explore using machine learning to predict the drift (flight path errors) of an MAV while executing a desired flight path. This predicted drift will allow the MAV to adjust it's flightpath to maintain a desired course.

Randomized algorithms that base iteration-level decisions on samples from some pool are ubiquitous in machine learning and optimization. Examples include stochastic gradient descent and randomized coordinate descent. This paper makes progress at theoretically evaluating the difference in performance between sampling with- and without-replacement in such algorithms. Focusing on least means squares optimization, we formulate a noncommutative arithmetic-geometric mean inequality that would prove that the expected convergence rate of without-replacement sampling is faster than that of with-replacement sampling. We demonstrate that this inequality holds for many classes of random matrices and for some pathological examples as well. We provide a deterministic worst-case bound on the gap between the discrepancy between the two sampling models, and explore some of the impediments to proving this inequality in full generality. We detail the consequences of this inequality for stochastic gradient descent and the randomized Kaczmarz algorithm for solving linear systems.

The activity of labeling of documents according to their content is known as text categorization. Many experiments have been carried out to enhance text categorization by adding background knowledge to the document using knowledge repositories like Word Net, Open Project Directory (OPD), Wikipedia and Wikitology. In our previous work, we have carried out intensive experiments by extracting knowledge from Wikitology and evaluating the experiment on Support Vector Machine with 10- fold cross-validations. The results clearly indicate Wikitology is far better than other knowledge bases. In this paper we are comparing Support Vector Machine (SVM) and Na\"ive Bayes (NB) classifiers under text enrichment through Wikitology. We validated results with 10-fold cross validation and shown that NB gives an improvement of +28.78%, on the other hand SVM gives an improvement of +6.36% when compared with baseline results. Na\"ive Bayes classifier is better choice when external enriching is used through any external knowledge base.

Motivated by multi-task machine learning with Banach spaces, we propose the notion of vector-valued reproducing kernel Banach spaces (RKBS). Basic properties of the spaces and the associated reproducing kernels are investigated. We also present feature map constructions and several concrete examples of vector-valued RKBS. The theory is then applied to multi-task machine learning. Especially, the representer theorem and characterization equations for the minimizer of regularized learning schemes in vector-valued RKBS are established.

Consider observation data, comprised of n observation vectors with values on a set of attributes. This gives us n points in attribute space. Having data structured as a tree, implied by having our observations embedded in an ultrametric topology, offers great advantage for proximity searching. If we have preprocessed data through such an embedding, then an observation's nearest neighbor is found in constant computational time, i.e. O(1) time. A further powerful approach is discussed in this work: the inducing of a hierarchy, and hence a tree, in linear computational time, i.e. O(n) time for n observations. It is with such a basis for proximity search and best match that we can address the burgeoning problems of processing very large, and possibly also very high dimensional, data sets.

Due to myriads of classes, designing accurate and efficient classifiers becomes very challenging for multi-class classification. Recent research has shown that class structure learning can greatly facilitate multi-class learning. In this paper, we propose a novel method to learn the class structure for multi-class classification problems. The class structure is assumed to be a binary hierarchical tree. To learn such a tree, we propose a maximum separating margin method to determine the child nodes of any internal node. The proposed method ensures that two classgroups represented by any two sibling nodes are most separable. In the experiments, we evaluate the accuracy and efficiency of the proposed method over other multi-class classification methods on real world large-scale problems. The results show that the proposed method outperforms benchmark methods in terms of accuracy for most datasets and performs comparably with other class structure learning methods in terms of efficiency for all datasets.

In this paper, we derive a novel probabilistic model of boosting as a Product of Experts. We re-derive the boosting algorithm as a greedy incremental model selection procedure which ensures that addition of new experts to the ensemble does not decrease the likelihood of the data. These learning rules lead to a generic boosting algorithm - POE- Boost which turns out to be similar to the AdaBoost algorithm under certain assumptions on the expert probabilities. The paper then extends the POEBoost algorithm to POEBoost.CS which handles hypothesis that produce probabilistic predictions. This new algorithm is shown to have better generalization performance compared to other state of the art algorithms.

Low-dimensional embedding, manifold learning, clustering, classification, and anomaly detection are among the most important problems in machine learning. The existing methods usually consider the case when each instance has a fixed, finite-dimensional feature representation. Here we consider a different setting. We assume that each instance corresponds to a continuous probability distribution. These distributions are unknown, but we are given some i.i.d. samples from each distribution. Our goal is to estimate the distances between these distributions and use these distances to perform low-dimensional embedding, clustering/classification, or anomaly detection for the distributions. We present estimation algorithms, describe how to apply them for machine learning tasks on distributions, and show empirical results on synthetic data, real word images, and astronomical data sets.

Latent force models (LFMs) are hybrid models combining mechanistic principles with non-parametric components. In this article, we shall show how LFMs can be equivalently formulated and solved using the state variable approach. We shall also show how the Gaussian process prior used in LFMs can be equivalently formulated as a linear statespace model driven by a white noise process and how inference on the resulting model can be efficiently implemented using Kalman filter and smoother. Then we shall show how the recently proposed switching LFM can be reformulated using the state variable approach, and how we can construct a probabilistic model for the switches by formulating a similar switching LFM as a switching linear dynamic system (SLDS). We illustrate the performance of the proposed methodology in simulated scenarios and apply it to inferring the switching points in GPS data collected from car movement data in urban environment.

We present sparse topical coding (STC), a non-probabilistic formulation of topic models for discovering latent representations of large collections of data. Unlike probabilistic topic models, STC relaxes the normalization constraint of admixture proportions and the constraint of defining a normalized likelihood function. Such relaxations make STC amenable to: 1) directly control the sparsity of inferred representations by using sparsity-inducing regularizers; 2) be seamlessly integrated with a convex error function (e.g., SVM hinge loss) for supervised learning; and 3) be efficiently learned with a simply structured coordinate descent algorithm. Our results demonstrate the advantages of STC and supervised MedSTC on identifying topical meanings of words and improving classification accuracy and time efficiency.