Over the last years, particle filters have been applied with great success to a variety of state estimation problems. We present a statistical approach to increasing the efficiency of particle filters by adapting the size of sample sets on-the-fly. The key idea of the KLD-sampling method is to bound the approximation error introduced by the sample-based representation of the particle filter. The name KLD-sampling is due to the fact that we measure the approximation error by the Kullback-Leibler distance. Our adaptation approach chooses a small number of samples if the density is focused on a small part of the state space, and it chooses a large number of samples if the state uncertainty is high. Both the implementation and computation overhead of this approach are small. Extensive experiments using mobile robot localization as a test application show that our approach yields drastic improvements over particle filters with fixed sample set sizes and over a previously introduced adaptation technique.

Our BFBP (Batch Fit to Best Paths) algorithm alternates between an exploration phase (during which trajectories are generated to try to find fragments of the optimal policy) and a function fitting phase (during which a function approximator is fit to the best known paths from start states to terminal states). An advantage of this approach is that batch value-function fitting is a global process, which allows it to address the tradeoffs in function approximation that cannot be handled by local, online algorithms.

Singularities are ubiquitous in the parameter space of hierarchical models such as multilayer perceptrons. At singularities, the Fisher information matrix degenerates, and the Cramer-Rao paradigm does no more hold, implying that the classical model selection theory suchas AIC and MDL cannot be applied. It is important to study the relation between the generalization error and the training error at singularities. The present paper demonstrates a method of analyzing these errors both for the maximum likelihood estimator andthe Bayesian predictive distribution in terms of Gaussian random fields, by using simple models. 1 Introduction A neural network is specified by a number of parameters which are synaptic weights and biases. Learning takes place by modifying these parameters from observed input-output examples.

Population codes often rely on the tuning of the mean responses to the stimulus parameters. However, this information can be greatly suppressed bylong range correlations. Here we study the efficiency of coding information in the second order statistics of the population responses. We show that the Fisher Information of this system grows linearly with the size of the system. We propose a bilinear readout model for extracting informationfrom correlation codes, and evaluate its performance in discrimination and estimation tasks. It is shown that the main source of information in this system is the stimulus dependence of the variances of the single neuron responses.

We present a powerful meta-clustering technique called Iterative Double Clustering(IDC). The IDC method is a natural extension of the recent Double Clustering (DC) method of Slonim and Tishby that exhibited impressiveperformance on text categorization tasks [12]. Using synthetically generated data we empirically find that whenever the DC procedure is successful in recovering some of the structure hidden in the data, the extended IDC procedure can incrementally compute a significantly more accurate classification. IDC is especially advantageous whenthe data exhibits high attribute noise. Our simulation results also show the effectiveness of IDC in text categorization problems. Surprisingly,this unsupervised procedure can be competitive with a (supervised) SVM trained with a small training set. Finally, we propose a simple and natural extension of IDC for semi-supervised and transductive learning where we are given both labeled and unlabeled examples.

We propose a framework based on a parametric quadratic programming (QP)technique to solve the support vector machine (SVM) training problem. This framework, can be specialized to obtain two SVM optimization methods. The first solves the fixed bias problem, whilethe second starts with an optimal solution for a fixed bias problem and adjusts the bias until the optimal value is found. The later method can be applied in conjunction with any other existing techniquewhich obtains a fixed bias solution. Moreover, the second method can also be used independently to solve the complete SVMtraining problem. A combination of these two methods is more flexible than each individual method and, among other things, produces an incremental algorithm which exactly solve the 1-Norm Soft Margin SVM optimization problem. Applying Selective Samplingtechniques may further boost convergence.

Animal data on delayed-reward conditioning experiments shows a striking property - the data for different time intervals collapses into a single curve when the data is scaled by the time interval. This is called the scalar property of interval timing. Here a simple model of a neural clock is presented and shown to give rise to the scalar property. The model is an accumulator consisting of noisy, linear spiking neurons. It is analytically tractable and contains only three parameters.

We derive an equivalence between AdaBoost and the dual of a convex optimization problem, showing that the only difference between minimizing theexponential loss used by AdaBoost and maximum likelihood for exponential models is that the latter requires the model to be normalized toform a conditional probability distribution over labels. In addition to establishing a simple and easily understood connection between the two methods, this framework enables us to derive new regularization procedures for boosting that directly correspond to penalized maximum likelihood. Experiments on UCI datasets support our theoretical analysis andgive additional insight into the relationship between boosting and logistic regression.

We present a new approach to the supervised learning of lateral interactions forthe competitive layer model (CLM) dynamic feature binding architecture. The method is based on consistency conditions, which were recently shown to characterize the attractor states of this linear threshold recurrent network. For a given set of training examples the learning problem isformulated as a convex quadratic optimization problem in the lateral interaction weights. An efficient dimension reduction of the learning problem can be achieved by using a linear superposition of basis interactions.

A theory of categorization is presented in which knowledge of causal relationships between category features is represented as a Bayesian network. Referred to as causal-model theory, this theory predicts that objects are classified as category members to the extent they are likely to have been produced by a categorys causal model. On this view, people have models of the world that lead them to expect a certain distribution of features in category members (e.g., correlations between feature pairs that are directly connected by causal relationships), and consider exemplars good category members when they manifest those expectations. These expectations include sensitivity to higher-order feature interactions that emerge from the asymmetries inherent in causal relationships. Research on the topic of categorization has traditionally focused on the problem of learning new categories given observations of category members.