Hidden Markov models (HMMs) and partially observable Markov decision processes (POMDPs) form a useful tool for modeling dynamical systems. They are particularly useful for representing environments such as road networks and office buildings, which are typical for robot navigation and planning. The work presented here is concerned with acquiring such models. We demonstrate how domain-specific information and constraints can be incorporated into the statistical estimation process, greatly improving the learned models in terms of the model quality, the number of iterations required for convergence and robustness to reduction in the amount of available data. We present new initialization heuristics which can be used even when the data suffers from cumulative rotational error, new update rules for the model parameters, as an instance of generalized EM, and a strategy for enforcing complete geometrical consistency in the model. Experimental results demonstrate the effectiveness of our approach for both simulated and real robot data, in traditionally hard-to-learn environments.

Images form a significant, yet under-utilized, information source in published biomedical articles. Much current work on biomedical image retrieval and classification uses simple, standard image representation employing features such as edge direction or gray scale histograms. In our earlier work we have used such features as well to classify images, where image-class-tags have been used to represent and classify complete articles. Here we focus on a different literature classification task: identifying articles discussing cis-regulatory elements and modules, motivated by the need to understand complex gene-networks. Curators attempting to identify such articles use as a major cue a certain type of image in which the conserved cis-regulatory region on the DNA is shown. Our experiments show that automatically identifying such images using common image features (such as gray scale) is highly error prone. However, using Optical Character Recognition (OCR) to extract alphabet characters from images, calculating character distribution and using the distribution parameters as image features, forms a novel image representation, which allows us to identify DNA-content in images with high precision and recall (over 0.9). Utilizing the occurrence of DNA-rich images within articles, we train a classifier to identify articles pertaining to cis-regulatory elements with a similarly high precision and recall. Using OCR-based image features has much potential beyond the current task, to identify other types of biomedical sequence-based images showing DNA, RNA and proteins. Moreover, automatically identifying such images is applicable beyond the current use-case, in other important biomedical document classification tasks.