We consider nonparametric estimation of $L_2$, Renyi-$\alpha$ and Tsallis-$\alpha$ divergences between continuous distributions. Our approach is to construct estimators for particular integral functionals of two densities and translate them into divergence estimators. For the integral functionals, our estimators are based on corrections of a preliminary plug-in estimator. We show that these estimators achieve the parametric convergence rate of $n^{-1/2}$ when the densities' smoothness, $s$, are both at least $d/4$ where $d$ is the dimension. We also derive minimax lower bounds for this problem which confirm that $s > d/4$ is necessary to achieve the $n^{-1/2}$ rate of convergence. We validate our theoretical guarantees with a number of simulations.

Sparse learning techniques have been routinely used for feature selection as the resulting model usually has a small number of non-zero entries. Safe screening, which eliminates the features that are guaranteed to have zero coefficients for a certain value of the regularization parameter, is a technique for improving the computational efficiency. Safe screening is gaining increasing attention since 1) solving sparse learning formulations usually has a high computational cost especially when the number of features is large and 2) one needs to try several regularization parameters to select a suitable model. In this paper, we propose an approach called "Sasvi" (Safe screening with variational inequalities). Sasvi makes use of the variational inequality that provides the sufficient and necessary optimality condition for the dual problem. Several existing approaches for Lasso screening can be casted as relaxed versions of the proposed Sasvi, thus Sasvi provides a stronger safe screening rule. We further study the monotone properties of Sasvi for Lasso, based on which a sure removal regularization parameter can be identified for each feature. Experimental results on both synthetic and real data sets are reported to demonstrate the effectiveness of the proposed Sasvi for Lasso screening.

Existing work in multi-agent collision prediction and avoidance typically assumes discrete-time trajectories with Gaussian uncertainty or that are completely deterministic. We propose an approach that allows detection of collisions even between continuous, stochastic trajectories with the only restriction that means and variances can be computed. To this end, we employ probabilistic bounds to derive criterion functions whose negative sign provably is indicative of probable collisions. For criterion functions that are Lipschitz, an algorithm is provided to rapidly find negative values or prove their absence. We propose an iterative policy-search approach that avoids prior discretisations and yields collision-free trajectories with adjustably high certainty. We test our method with both fixed-priority and auction-based protocols for coordinating the iterative planning process. Results are provided in collision-avoidance simulations of feedback controlled plants.

This paper describe about a new methodology for developing and improving the robotics field via artificial intelligence and internet of things. Now a day, we can say Artificial Intelligence take the world into robotics. Almost all industries use robots for lot of works. They are use co-operative robots to make different kind of works. But there was some problem to make robot for multi tasks. So there was a necessary new methodology to made multi tasking robots. It will be done only by artificial intelligence and internet of things.

The $H_\infty$ control design problem is considered for nonlinear systems with unknown internal system model. It is known that the nonlinear $ H_\infty $ control problem can be transformed into solving the so-called Hamilton-Jacobi-Isaacs (HJI) equation, which is a nonlinear partial differential equation that is generally impossible to be solved analytically. Even worse, model-based approaches cannot be used for approximately solving HJI equation, when the accurate system model is unavailable or costly to obtain in practice. To overcome these difficulties, an off-policy reinforcement leaning (RL) method is introduced to learn the solution of HJI equation from real system data instead of mathematical system model, and its convergence is proved. In the off-policy RL method, the system data can be generated with arbitrary policies rather than the evaluating policy, which is extremely important and promising for practical systems. For implementation purpose, a neural network (NN) based actor-critic structure is employed and a least-square NN weight update algorithm is derived based on the method of weighted residuals. Finally, the developed NN-based off-policy RL method is tested on a linear F16 aircraft plant, and further applied to a rotational/translational actuator system.

A standard technique for understanding underlying dependency structures among a set of variables posits a shared conditional probability distribution for the variables measured on individuals within a group. This approach is often referred to as module networks, where individuals are represented by nodes in a network, groups are termed modules, and the focus is on estimating the network structure among modules. However, estimation solely from node-specific variables can lead to spurious dependencies, and unverifiable structural assumptions are often used for regularization. Here, we propose an extended model that leverages direct observations about the network in addition to node-specific variables. By integrating complementary data types, we avoid the need for structural assumptions. We illustrate theoretical and practical significance of the model and develop a reversible-jump MCMC learning procedure for learning modules and model parameters. We demonstrate the method accuracy in predicting modular structures from synthetic data and capability to learn influence structures in twitter data and regulatory modules in the Mycobacterium tuberculosis gene regulatory network.

Batch Reinforcement Learning (RL) algorithms attempt to choose a policy from a designer-provided class of policies given a fixed set of training data. Choosing the policy which maximizes an estimate of return often leads to over-fitting when only limited data is available, due to the size of the policy class in relation to the amount of data available. In this work, we focus on learning policy classes that are appropriately sized to the amount of data available. We accomplish this by using the principle of Structural Risk Minimization, from Statistical Learning Theory, which uses Rademacher complexity to identify a policy class that maximizes a bound on the return of the best policy in the chosen policy class, given the available data. Unlike similar batch RL approaches, our bound on return requires only extremely weak assumptions on the true system.

Data originating from the Web, sensor readings and social media result in increasingly huge datasets. The so called Big Data comes with new scientific and technological challenges while creating new opportunities, hence the increasing interest in academia and industry. Traditionally, logic programming has focused on complex knowledge structures/programs, so the question arises whether and how it can work in the face of Big Data. In this paper, we examine how the well-founded semantics can process huge amounts of data through mass parallelization. More specifically, we propose and evaluate a parallel approach using the MapReduce framework. Our experimental results indicate that our approach is scalable and that well-founded semantics can be applied to billions of facts. To the best of our knowledge, this is the first work that addresses large scale nonmonotonic reasoning without the restriction of stratification for predicates of arbitrary arity. To appear in Theory and Practice of Logic Programming (TPLP).

We introduce the functional bandit problem, where the objective is to find an arm that optimises a known functional of the unknown arm-reward distributions. These problems arise in many settings such as maximum entropy methods in natural language processing, and risk-averse decision-making, but current best-arm identification techniques fail in these domains. We propose a new approach, that combines functional estimation and arm elimination, to tackle this problem. This method achieves provably efficient performance guarantees. In addition, we illustrate this method on a number of important functionals in risk management and information theory, and refine our generic theoretical results in those cases.

Transfer learning has received a lot of attention in the machine learning community over the last years, and several effective algorithms have been developed. However, relatively little is known about their theoretical properties, especially in the setting of lifelong learning, where the goal is to transfer information to tasks for which no data have been observed so far. In this work we study lifelong learning from a theoretical perspective. Our main result is a PAC-Bayesian generalization bound that offers a unified view on existing paradigms for transfer learning, such as the transfer of parameters or the transfer of low-dimensional representations. We also use the bound to derive two principled lifelong learning algorithms, and we show that these yield results comparable with existing methods.