Many domains are naturally organized in an abstraction hierarchy or taxonomy, where the instances in "nearby" classes in the taxonomy are similar. In this paper, we provide a general probabilistic framework for clustering data into a set of classes organized as a taxonomy, where each class is associated with a probabilistic model from which the data was generated. The clustering algorithm simultaneously optimizes three things: the assignment of data instances to clusters, the models associated with the clusters, and the structure of the abstraction hierarchy. A unique feature of our approach is that it utilizes global optimization algorithms for both of the last two steps, reducing the sensitivity to noise and the propensity to local maxima that are characteristic of algorithms such as hierarchical agglomerative clustering that only take local steps. We provide a theoretical analysis for our algorithm, showing that it converges to a local maximum of the joint likelihood of model and data.

Discriminative classifiers model the posterior p(ylx) directly, or learn a direct map from inputs x to the class labels. There are several compelling reasons for using discriminative rather than generative classifiers, one of which, succinctly articulated by Vapnik [6], is that "one should solve the [classification] problem directly and never solve a more general problem as an intermediate step [such as modeling p(xly)]." Indeed, leaving aside computational issues and matters such as handling missing data, the prevailing consensus seems to be that discriminative classifiers are almost always to be preferred to generative ones. Another piece of prevailing folk wisdom is that the number of examples needed to fit a model is often roughly linear in the number of free parameters of a model. This has its theoretical basis in the observation that for "many" models, the VC dimension is roughly linear or at most some low-order polynomial in the number of parameters (see, e.g., [1, 3]), and it is known that sample complexity in the discriminative setting is linear in the VC dimension [6]. In this paper, we study empirically and theoretically the extent to which these beliefs are true. A parametric family of probabilistic models p(x, y) can be fit either to optimize the joint likelihood of the inputs and the labels, or fit to optimize the conditional likelihood p(ylx), or even fit to minimize the 0-1 training error obtained by thresholding p(ylx) to make predictions.

The mutual information of two random variables z and J with joint probabilities {7rij} is commonly used in learning Bayesian nets as well as in many other fields. The chances 7rij are usually estimated by the empirical sampling frequency nij In leading to a point estimate J(nij In) for the mutual information. To answer questions like "is J (nij In) consistent with zero?" or "what is the probability that the true mutual information is much larger than the point estimate?"

We present an algorithm that induces a class of models with thin junction trees--models that are characterized by an upper bound on the size of the maximal cliques of their triangulated graph. By ensuring that the junction tree is thin, inference in our models remains tractable throughout the learning process. This allows both an efficient implementation of an iterative scaling parameter estimation algorithm and also ensures that inference can be performed efficiently with the final model. We illustrate the approach with applications in handwritten digit recognition and DNA splice site detection.

Reaching movements require the brain to generate motor commands that rely on an internal model of the task's dynamics. Here we consider the errors that subjects make early in their reaching trajectories to various targets as they learn an internal model. Using a framework from function approximation, we argue that the sequence of errors should reflect the process of gradient descent. If so, then the sequence of errors should obey hidden state transitions of a simple dynamical system. Fitting the system to human data, we find a surprisingly good fit accounting for 98% of the variance. This allows us to draw tentative conclusions about the basis elements used by the brain in transforming sensory space to motor commands. To test the robustness of the results, we estimate the shape of the basis elements under two conditions: in a traditional learning paradigm with a consistent force field, and in a random sequence of force fields where learning is not possible. Remarkably, we find that the basis remains invariant.

A nonlinear supervised learning model, the Specialized Mappings Architecture (SMA), is described and applied to the estimation of human body pose from monocular images. The SMA consists of several specialized forward mapping functions and an inverse mapping function. Each specialized function maps certain domains of the input space (image features) onto the output space (body pose parameters). The key algorithmic problems faced are those of learning the specialized domains and mapping functions in an optimal way, as well as performing inference given inputs and knowledge of the inverse function. Solutions to these problems employ the EM algorithm and alternating choices of conditional independence assumptions. Performance of the approach is evaluated with synthetic and real video sequences of human motion.

A theory of categorization is presented in which knowledge of causal relationships between category features is represented as a Bayesian network. Referred to as causal-model theory, this theory predicts that objects are classified as category members to the extent they are likely to have been produced by a categorys causal model. On this view, people have models of the world that lead them to expect a certain distribution of features in category members (e.g., correlations between feature pairs that are directly connected by causal relationships), and consider exemplars good category members when they manifest those expectations. These expectations include sensitivity to higher-order feature interactions that emerge from the asymmetries inherent in causal relationships. Research on the topic of categorization has traditionally focused on the problem of learning new categories given observations of category members.

The adaptive TAP Gibbs free energy for a general densely connected probabilistic model with quadratic interactions and arbritary single site constraints is derived. We show how a specific sequential minimization of the free energy leads to a generalization of Minka's expectation propagation. Lastly, we derive a sparse representation version of the sequential algorithm. The usefulness of the approach is demonstrated on classification and density estimation with Gaussian processes and on an independent component analysis problem.

We derive an equivalence between AdaBoost and the dual of a convex optimization problem, showing that the only difference between minimizing the exponential loss used by AdaBoost and maximum likelihood for exponential models is that the latter requires the model to be normalized to form a conditional probability distribution over labels. In addition to establishing a simple and easily understood connection between the two methods, this framework enables us to derive new regularization procedures for boosting that directly correspond to penalized maximum likelihood. Experiments on UCI datasets support our theoretical analysis and give additional insight into the relationship between boosting and logistic regression.

SMC is often referred to as particle filtering (PF) in the context of computing filtering distributions for statistical inference and learning. It is known that the performance of PF often deteriorates in high-dimensional state spaces. In the past, we have shown that if a model admits partial analytical tractability, it is possible to combine PF with exact algorithms (Kalman filters, HMM filters, junction tree algorithm) to obtain efficient high dimensional filters (Doucet, de Freitas, Murphy and Russell 2000, Doucet, Godsill and Andrieu 2000). In particular, we exploited a marginalisation technique known as Rao-Blackwellisation (RB). Here, we attack a more complex model that does not admit immediate analytical tractability.