We present a novel method for constructing dependent Dirichlet processes. The approach exploits the intrinsic relationship between Dirichlet and Poisson processes in order to create a Markov chain of Dirichlet processes suitable for use as a prior over evolving mixture models. The method allows for the creation, removal, and location variation of component models over time while maintaining the property that the random measures are marginally DP distributed. Additionally, we derive a Gibbs sampling algorithm for model inference and test it on both synthetic and real data. Empirical results demonstrate that the approach is effective in estimating dynamically varying mixture models.

We prove rates of convergence in the statistical sense for kernel-based least squares regression using a conjugate gradient algorithm, where regularization against overfitting is obtained by early stopping. This method is directly related to Kernel Partial Least Squares, a regression method that combines supervised dimensionality reduction with least squares projection. The rates depend on two key quantities: first, on the regularity of the target regression function and second, on the effective dimensionality of the data mapped into the kernel space. Lower bounds on attainable rates depending on these two quantities were established in earlier literature, and we obtain upper bounds for the considered method that match these lower bounds (up to a log factor) if the true regression function belongs to the reproducing kernel Hilbert space. If the latter assumption is not fulfilled, we obtain similar convergence rates provided additional unlabeled data are available. The order of the learning rates in these two situations match state-of-the-art results that were recently obtained for the least squares support vector machine and for linear regularization operators.

We introduce CST, an algorithm for constructing skill trees from demonstration trajectories in continuous reinforcement learning domains. CST uses a changepoint detection method to segment each trajectory into a skill chain by detecting a change of appropriate abstraction, or that a segment is too complex to model as a single skill. The skill chains from each trajectory are then merged to form a skill tree. We demonstrate that CST constructs an appropriate skill tree that can be further refined through learning in a challenging continuous domain, and that it can be used to segment demonstration trajectories on a mobile manipulator into chains of skills where each skill is assigned an appropriate abstraction.

Boosting combines weak classifiers to form highly accurate predictors. Although the case of binary classification is well understood, in the multiclass setting, the "correct" requirements on the weak classifier, or the notion of the most efficient boosting algorithms are missing. In this paper, we create a broad and general framework, within which we make precise and identify the optimal requirements on the weak-classifier, as well as design the most effective, in a certain sense, boosting algorithms that assume such requirements.

We propose a new LP relaxation for obtaining the MAP assignment of a binary MRF with pairwise potentials. Our relaxation is derived from reducing the MAP assignment problem to an instance of a recently proposed Bipartite Multi-cut problem where the LP relaxation is guaranteed to provide an O(log k) approximation where k is the number of vertices adjacent to non-submodular edges in the MRF. We then propose a combinatorial algorithm to efficiently solve the LP and also provide a lower bound by concurrently solving its dual to within an ɛ approximation. The algorithm is up to an order of magnitude faster and provides better MAP scores and bounds than the state of the art message passing algorithm of [1] that tightens the local marginal polytope with third-order marginal constraints.

Boosting combines weak classifiers to form highly accurate predictors. Although the case of binary classification is well understood, in the multiclass setting, the "correct" requirements on the weak classifier, or the notion of the most efficient boosting algorithms are missing. In this paper, we create a broad and general framework, within which we make precise and identify the optimal requirements on the weak-classifier, as well as design the most effective, in a certain sense, boosting algorithms that assume such requirements.

We present a novel method for constructing dependent Dirichlet processes. The approach exploits the intrinsic relationship between Dirichlet and Poisson processes in order to create a Markov chain of Dirichlet processes suitable for use as a prior over evolving mixture models. The method allows for the creation, removal, and location variation of component models over time while maintaining the property that the random measures are marginally DP distributed. Additionally, we derive a Gibbs sampling algorithm for model inference and test it on both synthetic and real data. Empirical results demonstrate that the approach is effective in estimating dynamically varying mixture models.

We propose a new LP relaxation for obtaining the MAP assignment of a binary MRF with pairwise potentials. Our relaxation is derived from reducing the MAP assignment problem to an instance of a recently proposed Bipartite Multi-cut problem where the LP relaxation is guaranteed to provide an O(log k) approximation where k is the number of vertices adjacent to non-submodular edges in the MRF. We then propose a combinatorial algorithm to efficiently solve the LP and also provide a lower bound by concurrently solving its dual to within an ɛ approximation. The algorithm is up to an order of magnitude faster and provides better MAP scores and bounds than the state of the art message passing algorithm of [1] that tightens the local marginal polytope with third-order marginal constraints.

Size, color, and orientation have long been considered elementary features whose attributes are extracted in parallel and available to guide the deployment of attention. If each is processed in the same fashion with simply a different set of local detectors, one would expect similar search behaviours on localizing an equivalent flickering change among identically laid out disks. We analyze feature transitions associated with saccadic search and find out that size, color, and orientation are not alike in dynamic attribute processing over time. The Markovian feature transition is attractive for size, repulsive for color, and largely reversible for orientation.

The sample complexity of active learning under the realizability assumption has been well-studied. The realizability assumption, however, rarely holds in practice. In this paper, we theoretically characterize the sample complexity of active learning in the non-realizable case under multi-view setting. We prove that, with unbounded Tsybakov noise, the sample complexity of multi-view active learning can be $\widetilde{O}(\log \frac{1}{\epsilon})$, contrasting to single-view setting where the polynomial improvement is the best possible achievement. We also prove that in general multi-view setting the sample complexity of active learning with unbounded Tsybakov noise is $\widetilde{O}(\frac{1}{\epsilon})$, where the order of $1/\epsilon$ is independent of the parameter in Tsybakov noise, contrasting to previous polynomial bounds where the order of $1/\epsilon$ is related to the parameter in Tsybakov noise.