The Maximum Margin Planning (MMP) (Ratliff et al., 2006) algorithm solves imitation learning problems by learning linear mappings from features to cost functions in a planning domain. The learned policy is the result of minimum-cost planning using these cost functions. These mappings are chosen so that example policies (or trajectories) given by a teacher appear to be lower cost (with a lossscaled margin) than any other policy for a given planning domain.

We derive a cost functional for estimating the relationship between highdimensional observations and the low-dimensional process that generated them with no input-output examples. Limiting our search to invertible observation functions confers numerous benefits, including a compact representation and no suboptimal local minima. Our approximation algorithms for optimizing this cost functional are fast and give diagnostic bounds on the quality of their solution. Our method can be viewed as a manifold learning algorithm that utilizes a prior on the low-dimensional manifold coordinates. The benefits of taking advantage of such priors in manifold learning and searching for the inverse observation functions in system identification are demonstrated empirically by learning to track moving targets from raw measurements in a sensor network setting and in an RFID tracking experiment.

We introduce a Gaussian process (GP) framework, stochastic relational models (SRM), for learning social, physical, and other relational phenomena where interactions between entities are observed. The key idea is to model the stochastic structure of entity relationships (i.e., links) via a tensor interaction of multiple GPs, each defined on one type of entities. These models in fact define a set of nonparametric priors on infinite dimensional tensor matrices, where each element represents a relationship between a tuple of entities. By maximizing the marginalized likelihood, information is exchanged between the participating GPs through the entire relational network, so that the dependency structure of links is messaged to the dependency of entities, reflected by the adapted GP kernels. The framework offers a discriminative approach to link prediction, namely, predicting the existences, strengths, or types of relationships based on the partially observed linkage network as well as the attributes of entities (if given). We discuss properties and variants of SRM and derive an efficient learning algorithm. Very encouraging experimental results are achieved on a toy problem and a user-movie preference link prediction task. In the end we discuss extensions of SRM to general relational learning tasks.

Image Congealing (IC) is a nonparametric method for the joint alignment of a collection of images affected by systematic and unwanted deformations. The method attempts to undo the deformations by minimizing a measure of complexity of the image ensemble, such as the averaged per-pixel entropy. This enables alignment without an explicit model of the aligned dataset as required by other methods (e.g.

Spectral clustering methods are common graph-based approaches to clustering of data. Spectral clustering algorithms typically start from local information encoded in a weighted graph on the data and cluster according to the global eigenvectors of the corresponding (normalized) similarity matrix. One contribution of this paper is to present fundamental limitations of this general local to global approach. We show that based only on local information, the normalized cut functional is not a suitable measure for the quality of clustering. Further, even with a suitable similarity measure, we show that the first few eigenvectors of such adjacency matrices cannot successfully cluster datasets that contain structures at different scales of size and density. Based on these findings, a second contribution of this paper is a novel diffusion based measure to evaluate the coherence of individual clusters. Our measure can be used in conjunction with any bottom-up graph-based clustering method, it is scale-free and can determine coherent clusters at all scales. We present both synthetic examples and real image segmentation problems where various spectral clustering algorithms fail. In contrast, using this coherence measure finds the expected clusters at all scales.

The quality measures used in information retrieval are particularly difficult to optimize directly, since they depend on the model scores only through the sorted order of the documents returned for a given query. Thus, the derivatives of the cost with respect to the model parameters are either zero, or are undefined. In this paper, we propose a class of simple, flexible algorithms, called LambdaRank, which avoids these difficulties by working with implicit cost functions. We describe LambdaRank using neural network models, although the idea applies to any differentiable function class. We give necessary and sufficient conditions for the resulting implicit cost function to be convex, and we show that the general method has a simple mechanical interpretation. We demonstrate significantly improved accuracy, over a state-of-the-art ranking algorithm, on several datasets. We also show that LambdaRank provides a method for significantly speeding up the training phase of that ranking algorithm. Although this paper is directed towards ranking, the proposed method can be extended to any non-smooth and multivariate cost functions.

We describe an algorithmic framework for an abstract game which we term a convex repeated game. We show that various online learning and boosting algorithms can be all derived as special cases of our algorithmic framework. This unified view explains the properties of existing algorithms and also enables us to derive several new interesting algorithms. Our algorithmic framework stems from a connection that we build between the notions of regret in game theory and weak duality in convex optimization.

We propose a generic algorithm for computation of similarity measures for sequential data. The algorithm uses generalized suffix trees for efficient calculation of various kernel, distance and non-metric similarity functions. Its worst-case run-time is linear in the length of sequences and independent of the underlying embedding language, which can cover words, k-grams or all contained subsequences. Experiments with network intrusion detection, DNA analysis and text processing applications demonstrate the utility of distances and similarity coefficients for sequences as alternatives to classical kernel functions.

We establish a general oracle inequality for clipped approximate minimizers of regularized empirical risks and apply this inequality to support vector machine (SVM) type algorithms. We then show that for SVMs using Gaussian RBF kernels for classification this oracle inequality leads to learning rates that are faster than the ones established in [9]. Finally, we use our oracle inequality to show that a simple parameter selection approach based on a validation set can yield the same fast learning rates without knowing the noise exponents which were required to be known a-priori in [9].

Correspondence algorithms typically struggle with shapes that display part-based variation. We present a probabilistic approach that matches shapes using independent part transformations, where the parts themselves are learnt during matching. Ideas from semi-supervised learning are used to bias the algorithm towards finding'perceptually valid' part structures. Shapes are represented by unlabeled point sets of arbitrary size and a background component is used to handle occlusion, local dissimilarity and clutter. Thus, unlike many shape matching techniques, our approach can be applied to shapes extracted from real images. Model parameters are estimated using an EM algorithm that alternates between finding a soft correspondence and computing the optimal part transformations using Procrustes analysis.