We consider online learning in a Reproducing Kernel Hilbert Space. Our method is computationally efficient and leads to simple algorithms. In particular we derive update equations for classification, regression, and novelty detection. The inclusion of the -trick allows us to give a robust parameterization.

This article presents a Support Vector Machine (SVM) like learning system to handle multi-label problems. Such problems are usually decomposed into many two-class problems but the expressive power of such a system can be weak [5, 7]. We explore a new direct approach. It is based on a large margin ranking system that shares a lot of common properties with SVMs. We tested it on a Yeast gene functional classification problem with positive results.

Principal component analysis (PCA) is a commonly applied technique for dimensionality reduction. PCA implicitly minimizes a squared loss function, which may be inappropriate for data that is not real-valued, such as binary-valued data. This paper draws on ideas from the Exponential family, Generalized linear models, and Bregman distances, to give a generalization of PCA to loss functions that we argue are better suited to other data types. We describe algorithms for minimizing the loss functions, and give examples on simulated data.

We develop an intuitive geometric framework for support vector regression (SVR). By examining when ɛ-tubes exist, we show that SVR can be regarded as a classification problem in the dual space. Hard and soft ɛ-tubes are constructed by separating the convex or reduced convex hulls respectively of the training data with the response variable shifted up and down by ɛ. A novel SVR model is proposed based on choosing the max-margin plane between the two shifted datasets.

We provide a natural gradient method that represents the steepest descent direction based on the underlying structure of the parameter space. Although gradient methods cannot make large changes in the values of the parameters, we show that the natural gradient is moving toward choosing a greedy optimal action rather than just a better action. These greedy optimal actions are those that would be chosen under one improvement step of policy iteration with approximate, compatible value functions, as defined by Sutton et al. [9]. We then show drastic performance improvements in simple MDPs and in the more challenging MDP of Tetris. 1 Introduction There has been a growing interest in direct policy-gradient methods for approximate planning in large Markov decision problems (MDPs). Unfortunately, the standard gradient descent rule is noncovariant.

Greedy approximation algorithms have been frequently used to obtain sparse solutions to learning problems. In this paper, we present a general greedy algorithm for solving a class of convex optimization problems. We derive a bound on the rate of approximation for this algorithm, and show that our algorithm includes a number of earlier studies as special cases.

Over the last years, particle filters have been applied with great success to a variety of state estimation problems. We present a statistical approach to increasing the efficiency of particle filters by adapting the size of sample sets on-the-fly. The key idea of the KLD-sampling method is to bound the approximation error introduced by the sample-based representation of the particle filter. The name KLD-sampling is due to the fact that we measure the approximation error by the Kullback-Leibler distance. Our adaptation approach chooses a small number of samples if the density is focused on a small part of the state space, and it chooses a large number of samples if the state uncertainty is high. Both the implementation and computation overhead of this approach are small. Extensive experiments using mobile robot localization as a test application show that our approach yields drastic improvements over particle filters with fixed sample set sizes and over a previously introduced adaptation technique.

We propose a new particle filter that incorporates a model of costs when generating particles. The approach is motivated by the observation that the costs of accidentally not tracking hypotheses might be significant in some areas of state space, and next to irrelevant in others. By incorporating a cost model into particle filtering, states that are more critical to the system performance are more likely to be tracked. Automatic calculation of the cost model is implemented using an MDP value function calculation that estimates the value of tracking a particular state. Experiments in two mobile robot domains illustrate the appropriateness of the approach.

Guided by an initial idea of building a complex (non linear) decision surface with maximal local margin in input space, we give a possible geometrical intuition as to why K-Nearest Neighbor (KNN) algorithms often perform more poorly than SVMs on classification tasks. We then propose modified K-Nearest Neighbor algorithms to overcome the perceived problem. The approach is similar in spirit to Tangent Distance, but with invariances inferred from the local neighborhood rather than prior knowledge. Experimental results on real world classification tasks suggest that the modified KNN algorithms often give a dramatic improvement over standard KNN and perform as well or better than SVMs.

One way to attempt to achieve this is via a generative approach in which one makes distributional assumptions about the class-conditional densities and thereby estimates and controls the relevant probabilities. The need to make distributional assumptions, however, casts doubt on the generality and validity of such an approach, and in discriminative solutions to classification problems it is common to attempt to dispense with class-conditional densities entirely. Rather than avoiding any reference to class-conditional densities, it might be useful to attempt to control misclassification probabilities in a worst-case setting; that is, under all possible choices of class-conditional densities. Such a minimax approach could be viewed as providing an alternative justification for discriminative approaches. In this paper we show how such a minimax programme can be carried out in the setting of binary classification. Our approach involves exploiting the following powerful theorem due to Isii [6], as extended in recent work by Bertsimas - http://robotics.eecs.berkeley.edur