Measurements made by satellite remote sensing, Moderate Resolution Imaging Spectroradiometer (MODIS), and globally distributed Aerosol Robotic Network (AERONET) are compared. Comparison of the two datasets measurements for aerosol optical depth values show that there are biases between the two data products. In this paper, we present a general framework towards identifying relevant set of variables responsible for the observed bias. We present a general framework to identify the possible factors influencing the bias, which might be associated with the measurement conditions such as the solar and sensor zenith angles, the solar and sensor azimuth, scattering angles, and surface reflectivity at the various measured wavelengths, etc. Specifically, we performed analysis for remote sensing Aqua-Land data set, and used machine learning technique, neural network in this case, to perform multivariate regression between the ground-truth and the training data sets. Finally, we used mutual information between the observed and the predicted values as the measure of similarity to identify the most relevant set of variables. The search is brute force method as we have to consider all possible combinations. The computations involves a huge number crunching exercise, and we implemented it by writing a job-parallel program.

Cooperative pathfinding is a problem of finding a set of non-conflicting trajectories for a number of mobile agents. Its applications include planning for teams of mobile robots, such as autonomous aircrafts, cars, or underwater vehicles. The state-of-the-art algorithms for cooperative pathfinding typically rely on some heuristic forward-search pathfinding technique, where A* is often the algorithm of choice. Here, we propose MA-RRT*, a novel algorithm for multi-agent path planning that builds upon a recently proposed asymptotically-optimal sampling-based algorithm for finding single-agent shortest path called RRT*. We experimentally evaluate the performance of the algorithm and show that the sampling-based approach offers better scalability than the classical forward-search approach in relatively large, but sparse environments, which are typical in real-world applications such as multi-aircraft collision avoidance.

We propose a novel hierarchical model for multitask bipartite ranking. The proposed approach combines a matrix-variate Gaussian process with a generative model for task-wise bipartite ranking. In addition, we employ a novel trace constrained variational inference approach to impose low rank structure on the posterior matrix-variate Gaussian process. The resulting posterior covariance function is derived in closed form, and the posterior mean function is the solution to a matrix-variate regression with a novel spectral elastic net regularizer. Further, we show that variational inference for the trace constrained matrix-variate Gaussian process combined with maximum likelihood parameter estimation for the bipartite ranking model is jointly convex. Our motivating application is the prioritization of candidate disease genes. The goal of this task is to aid the identification of unobserved associations between human genes and diseases using a small set of observed associations as well as kernels induced by gene-gene interaction networks and disease ontologies. Our experimental results illustrate the performance of the proposed model on real world datasets. Moreover, we find that the resulting low rank solution improves the computational scalability of training and testing as compared to baseline models.

We propose a new statistical model for computational linguistics. Rather than trying to estimate directly the probability distribution of a random sentence of the language, we define a Markov chain on finite sets of sentences with many finite recurrent communicating classes and define our language model as the invariant probability measures of the chain on each recurrent communicating class. This Markov chain, that we call a communication model, recombines at each step randomly the set of sentences forming its current state, using some grammar rules. When the grammar rules are fixed and known in advance instead of being estimated on the fly, we can prove supplementary mathematical properties. In particular, we can prove in this case that all states are recurrent states, so that the chain defines a partition of its state space into finite recurrent communicating classes. We show that our approach is a decisive departure from Markov models at the sentence level and discuss its relationships with Context Free Grammars. Although the toric grammars we use are closely related to Context Free Grammars, the way we generate the language from the grammar is qualitatively different. Our communication model has two purposes. On the one hand, it is used to define indirectly the probability distribution of a random sentence of the language. On the other hand it can serve as a (crude) model of language transmission from one speaker to another speaker through the communication of a (large) set of sentences.

We study the problem of online learning with a notion of regret defined with respect to a set of strategies. We develop tools for analyzing the minimax rates and for deriving regret-minimization algorithms in this scenario. While the standard methods for minimizing the usual notion of regret fail, through our analysis we demonstrate existence of regret-minimization methods that compete with such sets of strategies as: autoregressive algorithms, strategies based on statistical models, regularized least squares, and follow the regularized leader strategies. In several cases we also derive efficient learning algorithms.

Many structured data-fitting applications require the solution of an optimization problem involving a sum over a potentially large number of measurements. Incremental gradient algorithms offer inexpensive iterations by sampling a subset of the terms in the sum. These methods can make great progress initially, but often slow as they approach a solution. In contrast, full-gradient methods achieve steady convergence at the expense of evaluating the full objective and gradient on each iteration. We explore hybrid methods that exhibit the benefits of both approaches. Rate-of-convergence analysis shows that by controlling the sample size in an incremental gradient algorithm, it is possible to maintain the steady convergence rates of full-gradient methods. We detail a practical quasi-Newton implementation based on this approach. Numerical experiments illustrate its potential benefits.

Y ang, Member, IEEE, Roy Dong, Michel V erhaegen, S. Shankar Sastry, Fellow, IEEE Abstract--In many compressive sensing problems today, the relationship between the measurements and the unknowns could be nonlinear . Traditional treatment of such nonlinear relationships have been to approximate the nonlinearity via a linear model and the subsequent un-modeled dynamics as noise. The ability to more accurately characterize nonlinear models has the potential to improve the results in both existing compressive sensing applications and those where a linear approximation does not suffice, e.g., phase retrieval. In this paper, we extend the classical compressive sensing framework to a second-order T aylor expansion of the nonlinearity. Using a lifting technique and a method we call quadratic basis pursuit, we show that the sparse signal can be recovered exactly when the sampling rate is sufficiently high. We further present efficient numerical algorithms to recover sparse signals in second-order nonlinear systems, which are considerably more difficult to solve than their linear counterparts in sparse optimization. I NTRODUCTION Consider the problem of finding the sparsest signalx satisfying a system of linear equations: min x R n ‖ x ‖ 0 subj. One of the most well known approaches is to relax the zero norm and replace it with the 1-norm: min x R n ‖ x ‖ 1 subj. The ability to recover the optimal solution to (1) is essential in the theory of compressive sensing (CS) [4], [5] and a tremendous amount of work has been dedicated to solving and analyzing the solution of (1) and (2) in the last decade. Today CS is regarded as a powerful tool in signal processing and widely used in many applications. For a detailed review of the literature, the reader is referred to several recent publications such as [6], [7].

It has been shown that AIC-type criteria are asymptotically efficient selectors of the tuning parameter in non-concave penalized regression methods under the assumption that the population variance is known or that a consistent estimator is available. We relax this assumption to prove that AIC itself is asymptotically efficient and we study its performance in finite samples. In classical regression, it is known that AIC tends to select overly complex models when the dimension of the maximum candidate model is large relative to the sample size. Simulation studies suggest that AIC suffers from the same shortcomings when used in penalized regression. We therefore propose the use of the classical corrected AIC (AICc) as an alternative and prove that it maintains the desired asymptotic properties. To broaden our results, we further prove the efficiency of AIC for penalized likelihood methods in the context of generalized linear models with no dispersion parameter. Similar results exist in the literature but only for a restricted set of candidate models. By employing results from the classical literature on maximum-likelihood estimation in misspecified models, we are able to establish this result for a general set of candidate models. We use simulations to assess the performance of AIC and AICc, as well as that of other selectors, in finite samples for both SCAD-penalized and Lasso regressions and a real data example is considered.

We analyse the complexity of environments according to the policies that need to be used to achieve high performance. The performance results for a population of policies leads to a distribution that is examined in terms of policy complexity and analysed through several diagrams and indicators. The notion of environment response curve is also introduced, by inverting the performance results into an ability scale. We apply all these concepts, diagrams and indicators to a minimalistic environment class, agent-populated elementary cellular automata, showing how the difficulty, discriminating power and ranges (previous to normalisation) may vary for several environments.

This paper addresses the issue of integrating agents with a variety of external resources and services, as found in enterprise computing environments. We propose an approach for interfacing agents and existing message routing and mediation engines based on the endpoint concept from the enterprise integration patterns of Hohpe and Woolf. A design for agent endpoints is presented, and an architecture for connecting the Jason agent platform to the Apache Camel enterprise integration framework using this type of endpoint is described. The approach is illustrated by means of a business process use case, and a number of Camel routes are presented. These demonstrate the benefits of interfacing agents to external services via a specialised message routing tool that supports enterprise integration patterns.