Decentralized Dynamic Discriminative Dictionary Learning

We develop a framework to solve machine learning problems in cases where latent geometric structure in the feature space may be exploited. We consider cases where the number of training examples is either very large, or signals are sequentially observed by a platform operating in real-time such as an autonomous robot. In the former case, since the sample size is large-scale, processing a few training examples at a time is necessary due to computational cost. However, doing so at a centralized location may be impractical, which motivates the use of learning techniques that may be done collaboratively by a network of interconnected computing servers. In the later case, an autonomous robot with no priors on its operating environment only has access to information based on the path it has traversed, which may omit regions of the feature space crucial for tasks such as learning-based control. By communicating with other robots in a network, individuals may learn over a broader domain associated with that which has been explored by the whole network, and thus more effectively solve autonomous learning tasks.