Search

Multi-task clustering improves the clustering performance of each task by transferring knowledge across related tasks. Most existing multi-task clustering methods are based on the ideal assumption that the tasks are completely related. However, in real applications, the tasks are usually partially related. In these cases, brute-force transfer may cause negative effect which degrades the clustering performance. In this paper, we propose two multi-task clustering methods for partially related tasks: the self-adapted multi-task clustering (SAMTC) method and the manifold regularized coding multi-task clustering (MRCMTC) method, which can automatically identify and transfer related instances among the tasks, thus avoiding negative transfer. Both SAMTC and MRCMTC construct the similarity matrix for each target task by exploiting useful information from the source tasks through related instances transfer, and adopt spectral clustering to get the final clustering results. But, they learn the related instances from the source tasks in different ways. Experimental results on real data sets show the superiorities of the proposed algorithms over traditional single-task clustering methods and existing multi-task clustering methods on both completely and partially related tasks. [ABSTRACT FROM AUTHOR]

In this paper, we propose an online learning algorithm for optimal execution in the limit order book of a financial asset. Given a certain number of shares to sell and an allocated time window to complete the transaction, the proposed algorithm dynamically learns the optimal number of shares to sell via market orders at prespecified time slots within the allocated time interval. We model this problem as a Markov Decision Process (MDP), which is then solved by dynamic programming. First, we prove that the optimal policy has a specific form, which requires either selling no shares or the maximum allowed amount of shares at each time slot. Then, we consider the learning problem, in which the state transition probabilities are unknown and need to be learned on the fly. We propose a learning algorithm that exploits the form of the optimal policy when choosing the amount to trade. Interestingly, this algorithm achieves bounded regret with respect to the optimal policy computed based on the complete knowledge of the market dynamics. Our numerical results on several finance datasets show that the proposed algorithm performs significantly better than the traditional Q-learning algorithm by exploiting the structure of the problem. [ABSTRACT FROM AUTHOR]

Both cost-sensitive classification and online learning have been extensively studied in data mining and machine learning communities, respectively. However, very limited study addresses an important intersecting problem, that is, “Cost-Sensitive Online Classification”. In this paper, we formally study this problem, and propose a new framework for Cost-Sensitive Online Classification by directly optimizing cost-sensitive measures using online gradient descent techniques. Specifically, we propose two novel cost-sensitive online classification algorithms, which are designed to directly optimize two well-known cost-sensitive measures: (i) maximization of weighted sum of sensitivity and specificity, and (ii) minimization of weighted misclassification cost. We analyze the theoretical bounds of the cost-sensitive measures made by the proposed algorithms, and extensively examine their empirical performance on a variety of cost-sensitive online classification tasks. Finally, we demonstrate the application of the proposed technique for solving several online anomaly detection tasks, showing that the proposed technique could be a highly efficient and effective tool to tackle cost-sensitive online classification tasks in various application domains. [ABSTRACT FROM AUTHOR]

The evolution of the Internet of Things (IoT) is driving an extraordinary growth of traffic and processing demands, persuading 5G players to change their infrastructures. In this context, Fog computing emerges as a potential solution, providing nearby resources to run IoT applications. However, the Fog raises several challenges which hinders its adoption. In this article, we consider the reconfiguration problem, i.e., how to dynamically adapt the placement of IoT applications running on the Fog, depending on application needs and evolution of resource usage. We propose and evaluate a series of reconfiguration algorithms, based on both online scheduling and online learning approaches. Through an extensive set of experiments in a realistic testbed, we demonstrate that the performance strongly depends on the quality and availability of information from both Fog infrastructure and IoT applications. This information mainly concerns the application’s resource usage (estimated by the user during the design of the application) and the availability of resources in the infrastructure (collected by commercial off-the-shelf monitoring tools). Finally, we show that a reactive and greedy strategy, which relies on this additional information, can overcome the performance of state-of-the-art online learning algorithms, even in a scenario with inaccurate information. [ABSTRACT FROM AUTHOR]

Algorithms for fully automatic segmentation of images are often not sufficiently generic with suitable accuracy, and fully manual segmentation is not practical in many settings. There is a need for semiautomatic algorithms, which are capable of interacting with the user and taking into account the collected feedback. Typically, such methods have simply incorporated user feedback directly. Here, we employ active learning of optimal queries to guide user interaction. Our work in this paper is based on constrained spectral clustering that iteratively incorporates user feedback by propagating it through the calculated affinities. The original framework does not scale well to large data sets, and hence is not straightforward to apply to interactive image segmentation. In order to address this issue, we adopt advanced numerical methods for eigen-decomposition implemented over a subsampling scheme. Our key innovation, however, is an active learning strategy that chooses pairwise queries to present to the user in order to increase the rate of learning from the feedback. Performance evaluation is carried out on the Berkeley segmentation and Graz-02 image data sets, confirming that convergence to high accuracy levels is realizable in relatively few iterations. [ABSTRACT FROM AUTHOR]

In this paper, we propose a multiple kernel learning (MKL) algorithm that is based on the sparse representation-based classification (SRC) method. Taking advantage of the nonlinear kernel SRC in efficiently representing the nonlinearities in the high-dimensional feature space, we propose an MKL method based on the kernel alignment criteria. Our method uses a two step training method to learn the kernel weights and sparse codes. At each iteration, the sparse codes are updated first while fixing the kernel mixing coefficients, and then the kernel mixing coefficients are updated while fixing the sparse codes. These two steps are repeated until a stopping criteria is met. The effectiveness of the proposed method is demonstrated using several publicly available image classification databases and it is shown that this method can perform significantly better than many competitive image classification algorithms. [ABSTRACT FROM AUTHOR]

The teaching learning-based optimization (TLBO) is a population-based optimization algorithm suitable for solving complex problems. TLBO imitates the interaction between a teacher and her/his students. The global solution search process of this approach consists of two phases: the teacher- and the learner-phase. This paper proposes a multi-objective teaching learning algorithm based on decomposition (MOTLA/D) for solving a reactive power handling problem. The proposed method is validated on three test systems, and it is compared with respect to a state-of-the-art multi-objective evolutionary algorithm based on decomposition (MOEA/D). [ABSTRACT FROM PUBLISHER]

Model-based iterative reconstruction algorithms for low-dose X-ray computed tomography (CT) are computationally expensive. To address this problem, we recently proposed a deep convolutional neural network (CNN) for low-dose X-ray CT and won the second place in 2016 AAPM Low-Dose CT Grand Challenge. However, some of the textures were not fully recovered. To address this problem, here we propose a novel framelet-based denoising algorithm using wavelet residual network which synergistically combines the expressive power of deep learning and the performance guarantee from the framelet-based denoising algorithms. The new algorithms were inspired by the recent interpretation of the deep CNN as a cascaded convolution framelet signal representation. Extensive experimental results confirm that the proposed networks have significantly improved performance and preserve the detail texture of the original images. [ABSTRACT FROM AUTHOR]

Compressive sensing (CS) has proved effective for tomographic reconstruction from sparsely collected data or under-sampled measurements, which are practically important for few-view computed tomography (CT), tomosynthesis, interior tomography, and so on. To perform sparse-data CT, the iterative reconstruction commonly uses regularizers in the CS framework. Currently, how to choose the parameters adaptively for regularization is a major open problem. In this paper, inspired by the idea of machine learning especially deep learning, we unfold the state-of-the-art “fields of experts”-based iterative reconstruction scheme up to a number of iterations for data-driven training, construct a learned experts’ assessment-based reconstruction network (LEARN) for sparse-data CT, and demonstrate the feasibility and merits of our LEARN network. The experimental results with our proposed LEARN network produces a superior performance with the well-known Mayo Clinic low-dose challenge data set relative to the several state-of-the-art methods, in terms of artifact reduction, feature preservation, and computational speed. This is consistent to our insight that because all the regularization terms and parameters used in the iterative reconstruction are now learned from the training data, our LEARN network utilizes application-oriented knowledge more effectively and recovers underlying images more favorably than competing algorithms. Also, the number of layers in the LEARN network is only 50, reducing the computational complexity of typical iterative algorithms by orders of magnitude. [ABSTRACT FROM AUTHOR]

Conventional direction-of-arrival (DOA) estimation methods are sensitive to outlier measurements. Therefore, their performance may degrade substantially in the presence of impulsive noise. In this paper, we address the problem of DOA estimation in additive outliers from the perspective of sparse Bayesian learning (SBL). A Bayes-optimal algorithm is devised for robust DOA estimation, which can achieve excellent performance in terms of resolution and accuracy. To reduce the computational complexity of the SBL scheme, a fast alternating algorithm is also developed. New grid-refining procedures are further introduced into these two proposed algorithms to efficiently fix the off-grid gap. As our solutions do not require the prior knowledge of the number of sources and can resolve highly correlated or coherent sources, it is expected that they have higher applicability. Simulation results verify the outlier-robust performance of the SBL approach. [ABSTRACT FROM AUTHOR]

This paper examines the mean-square error performance of diffusion stochastic algorithms under a generalized coordinate-descent scheme. In this setting, the adaptation step by each agent is limited to a random subset of the coordinates of its stochastic gradient vector. The selection of coordinates varies randomly from iteration to iteration and from agent to agent across the network. Such schemes are useful in reducing computational complexity at each iteration in power-intensive large data applications. They are also useful in modeling situations where some partial gradient information may be missing at random. Interestingly, the results show that the steady-state performance of the learning strategy is not always degraded, while the convergence rate suffers some degradation. The results provide yet another indication of the resilience and robustness of adaptive distributed strategies. [ABSTRACT FROM AUTHOR]

In this paper, we propose SUbsequence Matching framework with cell MERgence (SUMMER) for online subsequence matching between histogram-based stream synopsis structures under the dynamic time warping distance. Given a query synopsis pattern, SUMMER continuously identifies all the matching subsequences for a stream as the bins are generated. To effectively reduce the computation time, we design a Weighted Dynamic Time Warping (WDTW) algorithm, which computes the warping distance directly between two histogram-based synopses. Furthermore, a Stack-based Overlapping Filter Algorithm (SOFA) is provided to remove the overlapping subsequences to avoid the redundant information. Finally, we design an optional refinement module to relax the subsequence range limit and improve the matching accuracy. Our experiments on real datasets show that the proposed method significantly speeds up the pattern matching without compromising the accuracy required when compared with other approaches. [ABSTRACT FROM AUTHOR]

Following the great success of deep convolutional neural networks (CNNs) in computer vision, this paper proposes a complex-valued CNN (CV-CNN) specifically for synthetic aperture radar (SAR) image interpretation. It utilizes both amplitude and phase information of complex SAR imagery. All elements of CNN including input-output layer, convolution layer, activation function, and pooling layer are extended to the complex domain. Moreover, a complex backpropagation algorithm based on stochastic gradient descent is derived for CV-CNN training. The proposed CV-CNN is then tested on the typical polarimetric SAR image classification task which classifies each pixel into known terrain types via supervised training. Experiments with the benchmark data sets of Flevoland and Oberpfaffenhofen show that the classification error can be further reduced if employing CV-CNN instead of conventional real-valued CNN with the same degrees of freedom. The performance of CV-CNN is comparable to that of existing state-of-the-art methods in terms of overall classification accuracy. [ABSTRACT FROM PUBLISHER]

Stochastic approximation techniques play an important role in solving many problems encountered in machine learning or adaptive signal processing. In these contexts, the statistics of the data are often unknown a priori or their direct computation is too intensive, and they have thus to be estimated online from the observed signals. For batch optimization of an objective function being the sum of a data fidelity term and a penalization (e.g., a sparsity promoting function), Majorize-Minimize (MM) methods have recently attracted much interest since they are fast, highly flexible, and effective in ensuring convergence. The goal of this paper is to show how these methods can be successfully extended to the case when the data fidelity term corresponds to a least squares criterion and the cost function is replaced by a sequence of stochastic approximations of it. In this context, we propose an online version of an MM subspace algorithm and we study its convergence by using suitable probabilistic tools. Simulation results illustrate the good practical performance of the proposed algorithm associated with a memory gradient subspace, when applied to both nonadaptive and adaptive filter identification problems. [ABSTRACT FROM PUBLISHER]

To facilitate software testing, and save testing costs, a wide range of machine learning methods have been studied to predict defects in software modules. Unfortunately, the imbalanced nature of this type of data increases the learning difficulty of such a task. Class imbalance learning specializes in tackling classification problems with imbalanced distributions, which could be helpful for defect prediction, but has not been investigated in depth so far. In this paper, we study the issue of if and how class imbalance learning methods can benefit software defect prediction with the aim of finding better solutions. We investigate different types of class imbalance learning methods, including resampling techniques, threshold moving, and ensemble algorithms. Among those methods we studied, AdaBoost.NC shows the best overall performance in terms of the measures including balance, G-mean, and Area Under the Curve (AUC). To further improve the performance of the algorithm, and facilitate its use in software defect prediction, we propose a dynamic version of AdaBoost.NC, which adjusts its parameter automatically during training. Without the need to pre-define any parameters, it is shown to be more effective and efficient than the original AdaBoost.NC. [ABSTRACT FROM AUTHOR]

In this paper, we consider the problem of lossy image compression. Recently, machine learning techniques have been introduced as effective mechanisms for image compression. The compression involves storing only the grayscale image and a few carefully selected color pixel seeds. For decompression, regression models are learned with the stored data to predict the missing colors. This reduces image compression to standard active learning and semisupervised learning problems. In this paper, we propose a novel algorithm that makes use of all the colors (instead of only the colors of the selected seeds) available during the encoding stage. By minimizing the total color prediction error, our method can achieve a better compression ratio and better colorization quality than previous methods. The experimental results demonstrate the effectiveness of our proposed algorithm. [ABSTRACT FROM PUBLISHER]

It is an important ability for any mobile robot to be able to estimate its posture and to gauge the distance it traveled. In this paper, we have addressed this problem in a dynamic quadruped robot by combining traditional state estimation methods with machine learning. We have designed and implemented a navigation algorithm for full body state (position, velocity, and attitude) estimation that uses no external reference but relies on multimodal proprioceptive sensory information only. The extended Kalman filter (EKF) was used to provide error estimation and data fusion from two independent sources of information: 1) strapdown mechanization algorithm processing raw inertial data and 2) legged odometry. We have devised a novel legged odometer that combines information from a multimodal combination of sensors (joint and pressure). We have shown our method to work for a dynamic turning gait, and we have also successfully demonstrated how it generalizes to different velocities and terrains. Furthermore, our solution proved to be immune to substantial slippage of the robot's feet. [ABSTRACT FROM PUBLISHER]

This paper utilizes a class of modern machine learning methods for estimating a transient stability boundary that is viewed as a function of power system variables. The simultaneous variable selection and estimation approach is employed yielding a substantially reduced complexity transient stability boundary model. The model is easily interpretable and yet possesses a stronger prediction power than techniques known in the power engineering literature so far. The accuracy of our methods is demonstrated using a 470-bus system. [ABSTRACT FROM PUBLISHER]

Machine learning techniques for computer vision applications like object recognition, scene classification, etc., require a large number of training samples for satisfactory performance. Especially when classification is to be performed over many categories, providing enough training samples for each category is infeasible. This paper describes new ideas in multiclass active learning to deal with the training bottleneck, making it easier to train large multiclass image classification systems. First, we propose a new interaction modality for training which requires only yes-no type binary feedback instead of a precise category label. The modality is especially powerful in the presence of hundreds of categories. For the proposed modality, we develop a Value-of-Information (VOI) algorithm that chooses informative queries while also considering user annotation cost. Second, we propose an active selection measure that works with many categories and is extremely fast to compute. This measure is employed to perform a fast seed search before computing VOI, resulting in an algorithm that scales linearly with dataset size. Third, we use locality sensitive hashing to provide a very fast approximation to active learning, which gives sublinear time scaling, allowing application to very large datasets. The approximation provides up to two orders of magnitude speedups with little loss in accuracy. Thorough empirical evaluation of classification accuracy, noise sensitivity, imbalanced data, and computational performance on a diverse set of image datasets demonstrates the strengths of the proposed algorithms. [ABSTRACT FROM AUTHOR]

Exploring context information for visual recognition has recently received significant research attention. This paper proposes a novel and highly efficient approach, which is named semantic diffusion, to utilize semantic context for large-scale image and video annotation. Starting from the initial annotation of a large number of semantic concepts (categories), obtained by either machine learning or manual tagging, the proposed approach refines the results using a graph diffusion technique, which recovers the consistency and smoothness of the annotations over a semantic graph. Different from the existing graph-based learning methods that model relations among data samples, the semantic graph captures context by treating the concepts as nodes and the concept affinities as the weights of edges. In particular, our approach is capable of simultaneously improving annotation accuracy and adapting the concept affinities to new test data. The adaptation provides a means to handle domain change between training and test data, which often occurs in practice. Extensive experiments are conducted to improve concept annotation results using Flickr images and TV program videos. Results show consistent and significant performance gain (10+\% on both image and video data sets). Source codes of the proposed algorithms are available online. [ABSTRACT FROM AUTHOR]

Due to the simplicity of their implementations, least square support vector machine (LS-SVM) and proximal support vector machine (PSVM) have been widely used in binary classification applications. The conventional LS-SVM and PSVM cannot be used in regression and multiclass classification applications directly, although variants of LS-SVM and PSVM have been proposed to handle such cases. This paper shows that both LS-SVM and PSVM can be simplified further and a unified learning framework of LS-SVM, PSVM, and other regularization algorithms referred to extreme learning machine (ELM) can be built. ELM works for the “generalized” single-hidden-layer feedforward networks (SLFNs), but the hidden layer (or called feature mapping) in ELM need not be tuned. Such SLFNs include but are not limited to SVM, polynomial network, and the conventional feedforward neural networks. This paper shows the following: 1) ELM provides a unified learning platform with a widespread type of feature mappings and can be applied in regression and multiclass classification applications directly; 2) from the optimization method point of view, ELM has milder optimization constraints compared to LS-SVM and PSVM; 3) in theory, compared to ELM, LS-SVM and PSVM achieve suboptimal solutions and require higher computational complexity; and 4) in theory, ELM can approximate any target continuous function and classify any disjoint regions. As verified by the simulation results, ELM tends to have better scalability and achieve similar (for regression and binary class cases) or much better (for multiclass cases) generalization performance at much faster learning speed (up to thousands times) than traditional SVM and LS-SVM. [ABSTRACT FROM AUTHOR]

Segmenting semantically meaningful whole objects from images is a challenging problem, and it becomes especially so without higher level common sense reasoning. In this paper, we present an interactive segmentation framework that integrates image appearance and boundary constraints in a principled way to address this problem. In particular, we assume that small sets of pixels, which are referred to as seed pixels, are labeled as the object and background. The seed pixels are used to estimate the labels of the unlabeled pixels using Dirichlet process multiple-view learning, which leverages 1) multiple-view learning that integrates appearance and boundary constraints and 2) Dirichlet process mixture-based nonlinear classification that simultaneously models image features and discriminates between the object and background classes. With the proposed learning and inference algorithms, our segmentation framework is experimentally shown to produce both quantitatively and qualitatively promising results on a standard dataset of images. In particular, our proposed framework is able to segment whole objects from images given insufficient seeds. [ABSTRACT FROM AUTHOR]

In this paper, we propose an efficient dictionary learning algorithm for sparse representation of given data and suggest a way to apply this algorithm to 3-D medical image denoising. Our learning approach is composed of two main parts: sparse coding and dictionary updating. On the sparse coding stage, an efficient algorithm named multiple clusters pursuit (MCP) is proposed. The MCP first applies a dictionary structuring strategy to cluster the atoms with high coherence together, and then employs a multiple-selection strategy to select several competitive atoms at each iteration. These two strategies can greatly reduce the computation complexity of the MCP and assist it to obtain better sparse solution. On the dictionary updating stage, the alternating optimization that efficiently approximates the singular value decomposition is introduced. Furthermore, in the 3-D medical image denoising application, a joint 3-D operation is proposed for taking the learning capabilities of the presented algorithm to simultaneously capture the correlations within each slice and correlations across the nearby slices, thereby obtaining better denoising results. The experiments on both synthetically generated data and real 3-D medical images demonstrate that the proposed approach has superior performance compared to some well-known methods. [ABSTRACT FROM PUBLISHER]

This paper presents a novel dimensionality reduction method for classification in medical imaging. The goal is to transform very high-dimensional input (typically, millions of voxels) to a low-dimensional representation (small number of constructed features) that preserves discriminative signal and is clinically interpretable. We formulate the task as a constrained optimization problem that combines generative and discriminative objectives and show how to extend it to the semi-supervised learning (SSL) setting. We propose a novel large-scale algorithm to solve the resulting optimization problem. In the fully supervised case, we demonstrate accuracy rates that are better than or comparable to state-of-the-art algorithms on several datasets while producing a representation of the group difference that is consistent with prior clinical reports. Effectiveness of the proposed algorithm for SSL is evaluated with both benchmark and medical imaging datasets. In the benchmark datasets, the results are better than or comparable to the state-of-the-art methods for SSL. For evaluation of the SSL setting in medical datasets, we use images of subjects with mild cognitive impairment (MCI), which is believed to be a precursor to Alzheimer's disease (AD), as unlabeled data. AD subjects and normal control (NC) subjects are used as labeled data, and we try to predict conversion from MCI to AD on follow-up. The semi-supervised extension of this method not only improves the generalization accuracy for the labeled data (AD/NC) slightly but is also able to predict subjects which are likely to converge to AD. [ABSTRACT FROM PUBLISHER]

This paper presents a new evolutionary approach called the hybrid evolutionary artificial neural network (HEANN) for simultaneously evolving an artificial neural networks (ANNs) topology and weights. Evolutionary algorithms (EAs) with strong global search capabilities are likely to provide the most promising region. However, they are less efficient in fine-tuning the search space locally. HEANN emphasizes the balancing of the global search and local search for the evolutionary process by adapting the mutation probability and the step size of the weight perturbation. This is distinguishable from most previous studies that incorporate EA to search for network topology and gradient learning for weight updating. Four benchmark functions were used to test the evolutionary framework of HEANN. In addition, HEANN was tested on seven classification benchmark problems from the UCI machine learning repository. Experimental results show the superior performance of HEANN in fine-tuning the network complexity within a small number of generations while preserving the generalization capability compared with other algorithms. [ABSTRACT FROM AUTHOR]

Locally linear embedding (LLE) and local tangent space alignment (LTSA) are two fundamental algorithms in manifold learning. Both LLE and LTSA employ linear methods to achieve their goals but with different motivations and formulations. LLE is developed by locally linear reconstructions in both high- and low-dimensional spaces, while LTSA is developed with the combinations of tangent space projections and locally linear alignments. This paper gives the regression reformulations of the LLE and LTSA algorithms in terms of locally linear transformations. The reformulations can help us to bridge them together, with which both of them can be addressed into a unified framework. Under this framework, the connections and differences between LLE and LTSA are explained. Illuminated by the connections and differences, an improved LLE algorithm is presented in this paper. Our algorithm learns the manifold in way of LLE but can significantly improve the performance. Experiments are conducted to illustrate this fact. [ABSTRACT FROM AUTHOR]

The state-of-the-art metric-learning algorithms cannot perform well for domain adaptation settings, such as cross-domain face recognition, image annotation, etc., because labeled data in the source domain and unlabeled ones in the target domain are drawn from different, but related distributions. In this paper, we propose the domain adaptation metric learning (DAML), by introducing a data-dependent regularization to the conventional metric learning in the reproducing kernel Hilbert space (RKHS). This data-dependent regularization resolves the distribution difference by minimizing the empirical maximum mean discrepancy between source and target domain data in RKHS. Theoretically, by using the empirical Rademacher complexity, we prove risk bounds for the nearest neighbor classifier that uses the metric learned by DAML. Practically, learning the metric in RKHS does not scale up well. Fortunately, we can prove that learning DAML in RKHS is equivalent to learning DAML in the space spanned by principal components of the kernel principle component analysis (KPCA). Thus, we can apply KPCA to select most important principal components to significantly reduce the time cost of DAML. We perform extensive experiments over four well-known face recognition datasets and a large-scale Web image annotation dataset for the cross-domain face recognition and image annotation tasks under various settings, and the results demonstrate the effectiveness of DAML. [ABSTRACT FROM AUTHOR]

This paper proposes the implementation of fuzzy motion control based on reinforcement learning (RL) and Lagrange polynomial interpolation (LPI) for gait synthesis of biped robots. First, the procedure of a walking gait is redefined into three states, and the parameters of this designed walking gait are determined. Then, the machine learning approach applied to adjusting the walking parameters is policy gradient RL (PGRL), which can execute real-time performance and directly modify the policy without calculating the dynamic function. Given a parameterized walking motion designed for biped robots, the PGRL algorithm automatically searches the set of possible parameters and finds the fastest possible walking motion. The reward function mainly considered is first the walking speed, which can be estimated from the vision system. However, the experiment illustrates that there are some stability problems in this kind of learning process. To solve these problems, the desired zero moment point trajectory is added to the reward function. The results show that the robot not only has more stable walking but also increases its walking speed after learning. This is more effective and attractive than manual trial-and-error tuning. LPI, moreover, is employed to transform the existing motions to the motion which has a revised angle determined by the fuzzy motion controller. Then, the biped robot can continuously walk in any desired direction through this fuzzy motion control. Finally, the fuzzy-based gait synthesis control is demonstrated by tasks and point- and line-target tracking. The experiments show the feasibility and effectiveness of gait learning with PGRL and the practicability of the proposed fuzzy motion control scheme. [ABSTRACT FROM AUTHOR]

Dynamic tactile sensing is a fundamental ability to recognize materials and objects. However, while humans are born with partially developed dynamic tactile sensing and quickly master this skill, today’s robots remain in their infancy. The development of such a sense requires not only better sensors but the right algorithms to deal with these sensors’ data as well. For example, when classifying a material based on touch, the data are noisy, high-dimensional, and contain irrelevant signals as well as essential ones. Few classification methods from machine learning can deal with such problems. In this paper, we propose an efficient approach to infer suitable lower dimensional representations of the tactile data. In order to classify materials based on only the sense of touch, these representations are autonomously discovered using visual information of the surfaces during training. However, accurately pairing vision and tactile samples in real-robot applications is a difficult problem. The proposed approach, therefore, works with weak pairings between the modalities. Experiments show that the resulting approach is very robust and yields significantly higher classification performance based on only dynamic tactile sensing. [ABSTRACT FROM AUTHOR]

Group Lasso is a mixed l1/l2-regularization method for a block-wise sparse model that has attracted a lot of interests in statistics, machine learning, and data mining. This paper establishes the possibility of stably recovering original signals from the noisy data using the adaptive group Lasso with a combination of sufficient block-sparsity and favorable block structure of the overcomplete dictionary. The corresponding theoretical results about the solution uniqueness, support recovery and representation error bound are derived based on the properties of block-coherence and subcoherence. Compared with the theoretical results on the parametrized quadratic program of conventional sparse representation, our stability results are more general. A comparison with block-based orthogonal greedy algorithm is also presented. Numerical experiments demonstrate the validity and correctness of theoretical derivation and also show that in case of noisy situation, the adaptive group Lasso has a better reconstruction performance than the quadratic program approach if the observed sparse signals have a natural block structure. [ABSTRACT FROM PUBLISHER]

Common spatial pattern (CSP) is a popular algorithm for classifying electroencephalogram (EEG) signals in the context of brain–computer interfaces (BCIs). This paper presents a regularization and aggregation technique for CSP in a small-sample setting (SSS). Conventional CSP is based on a sample-based covariance-matrix estimation. Hence, its performance in EEG classification deteriorates if the number of training samples is small. To address this concern, a regularized CSP (R-CSP) algorithm is proposed, where the covariance-matrix estimation is regularized by two parameters to lower the estimation variance while reducing the estimation bias. To tackle the problem of regularization parameter determination, R-CSP with aggregation (R-CSP-A) is further proposed, where a number of R-CSPs are aggregated to give an ensemble-based solution. The proposed algorithm is evaluated on data set IVa of BCI Competition III against four other competing algorithms. Experiments show that R-CSP-A significantly outperforms the other methods in average classification performance in three sets of experiments across various testing scenarios, with particular superiority in SSS. [ABSTRACT FROM AUTHOR]

In this paper, we consider a new periodic activation function for the multivalued neuron (MVN). The MVN is a neuron with complex-valued weights and inputs/output, which are located on the unit circle. Although the MVN outperforms many other neurons and MVN-based neural networks have shown their high potential, the MVN still has a limited capability of learning highly nonlinear functions. A periodic activation function, which is introduced in this paper, makes it possible to learn nonlinearly separable problems and non-threshold multiple-valued functions using a single multivalued neuron. We call this neuron a multivalued neuron with a periodic activation function (MVN-P). The MVN-Ps functionality is much higher than that of the regular MVN. The MVN-P is more efficient in solving various classification problems. A learning algorithm based on the error-correction rule for the MVN-P is also presented. It is shown that a single MVN-P can easily learn and solve those benchmark classification problems that were considered unsolvable using a single neuron. It is also shown that a universal binary neuron, which can learn nonlinearly separable Boolean functions, and a regular MVN are particular cases of the MVN-P. [ABSTRACT FROM AUTHOR]

Machine learning algorithms frequently suffer from the insufficiency of training data and the usage of inappropriate distance metric. In this paper, we propose a joint learning of labels and distance metric (JLLDM) approach, which is able to simultaneously address the two difficulties. In comparison with the existing semi-supervised learning and distance metric learning methods that focus only on label prediction or distance metric construction, the JLLDM algorithm optimizes the labels of unlabeled samples and a Mahalanobis distance metric in a unified scheme. The advantage of JLLDM is multifold: 1) the problem of training data insufficiency can be tackled; 2) a good distance metric can be constructed with only very few training samples; and 3) no radius parameter is needed since the algorithm automatically determines the scale of the metric. Extensive experiments are conducted to compare the JLLDM approach with different semi-supervised learning and distance metric learning methods, and empirical results demonstrate its effectiveness. [ABSTRACT FROM AUTHOR]

This paper proposes a framework for single-image super-resolution. The underlying idea is to learn a map from input low-resolution images to target high-resolution images based on example pairs of input and output images. Kernel ridge regression (KRR) is adopted for this purpose. To reduce the time complexity of training and testing for KRR, a sparse solution is found by combining the ideas of kernel matching pursuit and gradient descent. As a regularized solution, KRR leads to a better generalization than simply storing the examples as has been done in existing example-based algorithms and results in much less noisy images. However, this may introduce blurring and ringing artifacts around major edges as sharp changes are penalized severely. A prior model of a generic image class which takes into account the discontinuity property of images is adopted to resolve this problem. Comparison with existing algorithms shows the effectiveness of the proposed method. [ABSTRACT FROM AUTHOR]

An ensemble is a group of learners that work together as a committee to solve a problem. The existing ensemble learning algorithms often generate unnecessarily large ensembles, which consume extra computational resource and may degrade the generalization performance. Ensemble pruning algorithms aim to find a good subset of ensemble members to constitute a small ensemble, which saves the computational resource and performs as well as, or better than, the unpruned ensemble. This paper introduces a probabilistic ensemble pruning algorithm by choosing a set of "sparse" combination weights, most of which are zeros, to prune the ensemble. In order to obtain the set of sparse combination weights and satisfy the nonnegative constraint of the combination weights, a left-truncated, nonnegative, Gaussian prior is adopted over every combination weight. Expectation propagation (EP) algorithm is employed to approximate the posterior estimation of the weight vector. The leave-one-out (LOO) error can be obtained as a by-product in the training of EP without extra computation and is a good indication for the generalization error. Therefore, the LOO error is used together with the Bayesian evidence for model selection in this algorithm. An empirical study on several regression and classification benchmark data sets shows that our algorithm utilizes far less component learners but performs as well as, or better than, the unpruned ensemble. Our results are very competitive compared with other ensemble pruning algorithms. [ABSTRACT FROM AUTHOR]

Abstract-The sensitivity of the constrained K-means clustering algorithm (Cop-Kmeans) to the assignment order of instances is studied, and a novel assignment order learning method for Cop-Kmeans, termed as clustering Uncertainty-based Assignment order Learning Algorithm (UALA), is proposed in this correspondence paper. The main idea of UALA is to rank all instances in the data set according to their clustering uncertainties calculated by using the ensembles of multiple clustering algorithms. Experimental results on several real data sets with artificial instance-level constraints demonstrate that UALA can identify a good assignment order of instances for Cop-Kmeans. In addition, the effects of ensemble sizes on the performance of UALA are analyzed, and the generalization property of Cop-Kmeans is also studied. [ABSTRACT FROM AUTHOR]

The paper addresses the problem of predicting hourly load demand using adaptive artificial neural networks (ANNs). A particle swarm optimization (PSO) algorithm is employed to adjust the network's weights in the training phase of the ANNs. The advantage of using a PSO algorithm over other conventional training algorithms such as the back-propagation (BP) is that potential solutions will be flown through the problem hyperspace with accelerated movement towards the best solution. Thus the training phase should result in obtaining the weights configuration associated with the minimum output error. Data are wavelet transformed during the preprocessing stage and then inserted into the neural network to extract redundant information from the load curve. This results in better load characterization which creates a more reliable forecasting model. The transformed data of historical load and weather information were trained and tested over various periods of time. The generalized error estimation is done by using the reverse part of the data as a "test" set. The results were compared with traditional BP algorithm and offered a high forecasting precision. [ABSTRACT FROM AUTHOR]

In this paper, a novel method for reducing the runtime complexity of a support vector machine classifier is presented. The new training algorithm is fast and simple. This is achieved by an over-complete wavelet transform that finds the optimal approximation of the support vectors. The presented derivation shows that the wavelet theory provides an upper bound on the distance between the decision function of the support vector machine and our classifier. The obtained classifier is fast, since a Haar wavelet approximation of the support vectors is used, enabling efficient integral image-based kernel evaluations. This provides a set of cascaded classifiers of increasing complexity for an early rejection of vectors easy to discriminate. This excellent runtime performance is achieved by using a hierarchical evaluation over the number of incorporated and additional over the approximation accuracy of the reduced set vectors. Here, this algorithm is applied to the problem of face detection, but it can also be used for other image-based classifications. The algorithm presented, provides a 530-fold speedup over the support vector machine, enabling face detection at more than 25 fps on a standard PC. [ABSTRACT FROM AUTHOR]

Data observations that lie on a manifold can be approximated by a collection of overlapping local patches, the alignment of which in a low-dimensional euclidean space provides an embedding of the data. This paper describes an embedding method using classical multidimensional scaling as a local model based on the fact that a manifold locally resembles a euclidean space. A set of overlapping neighborhoods are chosen by a greedy approximation algorithm of minimum set cover. Local patches derived from the set of overlapping neighborhoods by classical multidimensional scaling are aligned in order to minimize a residual measure, which has a quadratic form of the resulting global coordinates and can be minimized analytically by solving an eigenvalue problem. This method requires only distances within each neighborhood and provides locally isometric embedding results. The size of the eigenvalue problem scales with the number of overlapping neighborhoods rather than the number of data points. Experiments on both synthetic and real-world data sets demonstrate the effectiveness of this method. Extensions and variations of the method are discussed. [ABSTRACT FROM AUTHOR]

In this paper, we present a general guideline to find a better distance measure for similarity estimation based on statistical analysis of distribution models and distance functions. A new set of distance measures are derived from the harmonic distance, the geometric distance, and their generalized variants according to the Maximum Likelihood theory. These measures can provide a more accurate feature model than the classical euclidean and Manhattan distances. We also find that the feature elements are often from heterogeneous sources that may have different influence on similarity estimation. Therefore, the assumption of single isotropic distribution model is often inappropriate. To alleviate this problem, we use a boosted distance measure framework that finds multiple distance measures, which fit the distribution of selected feature elements best for accurate similarity estimation. The new distance measures for similarity estimation are tested on two applications: stereo matching and motion tracking in video sequences. The performance of boosted distance measure is further evaluated on several benchmark data sets from the UCI repository and two image retrieval applications. In all the experiments, robust results are obtained based on the proposed methods. [ABSTRACT FROM AUTHOR]

A cascade face detector uses a sequence of node classifiers to distinguish faces from nonfaces. This paper presents a new approach to design node classifiers in the cascade detector. Previous methods used machine learning algorithms that simultaneously select features and form ensemble classifiers. We argue that if these two parts are decoupled, we have the freedom to design a classifier that explicitly addresses the difficulties caused by the asymmetric learning goal. There are three contributions in this paper: The first is a categorization of asymmetries in the learning goal and why they make face detection hard. The second is the Forward Feature Selection (FFS) algorithm and a fast precomputing strategy for AdaBoost. FFS and the fast AdaBoost can reduce the training time by approximately 100 and 50 times, in comparison to a naive implementation of the AdaBoost feature selection method. The last contribution is a Linear Asymmetric Classifier (LAC), a classifier that explicitly handles the asymmetric learning goal as a well-defined constrained optimization problem. We demonstrated experimentally that LAC results in an improved ensemble classifier performance. [ABSTRACT FROM AUTHOR]

In this paper, we propose a novel large margin classifier, called the maxi-min margin machine (M4). This model learns the decision boundary both locally and globally. In comparison, other large margin classifiers construct separating hyperplanes only either locally or globally. For example, a state-of-the-art large margin classifier, the support vector machine (SVM), considers data only locally, while another significant model, the minimax probability machine (MPM), focuses on building the decision hyperplane exclusively based on the global information. As a major contribution, we show that SVM yields the same solution as M4 when data satisfy certain conditions, and MPM can be regarded as a relaxation model of M4. Moreover, based on our proposed local and global view of data, another popular model, the linear discriminant analysis, can easily be interpreted and extended as well. We describe the M4 model definition, provide a geometrical interpretation, present theoretical justifications, and propose a practical sequential conic programming method to solve the optimization problem. We also show how to exploit Mercer kernels to extend M4 for nonlinear classifications. Furthermore, we perform a series of evaluations on both synthetic data sets and real-world benchmark data sets. Comparison with SVM and MPM demonstrates the advantages of our new model. [ABSTRACT FROM AUTHOR]

We conduct a large-scale comparative study on linearly combining superparent-one-dependence estimators (SPODEs), a popular family of seminaive Bayesian classifiers. Altogether, 16 model selection and weighing schemes, 58 benchmark data sets, and various statistical tests are employed. This paper's main contributions are threefold. First, it formally presents each scheme's definition, rationale, and time complexity and hence can serve as a comprehensive reference for researchers interested in ensemble learning. Second, it offers bias-variance analysis for each scheme's classification error performance. Third, it identifies effective schemes that meet various needs in practice. This leads to accurate and fast classification algorithms which have an immediate and significant impact on real-world applications. Another important feature of our study is using a variety of statistical tests to evaluate multiple learning methods across multiple data sets. [ABSTRACT FROM AUTHOR]

The process of learning the behavior of a given pro- gram by using machine-learning techniques (based on system-call audit data) is effective to detect intrusions. Rule learning, neural networks, statistics, and hidden Markov models (HMMs) are some of the kinds of representative methods for intrusion detection. Among them, neural networks are known for good performance in learning system-call sequences. In order to apply this knowledge to real-world problems successfully, it is important to determine the structures and weights of these call sequences. However, finding the appropriate structures requires very long time periods be- cause there are no suitable analytical solutions. In this paper, a novel intrusion-detection technique based on evolutionary neural networks (ENNs) is proposed. One advantage of using ENNs is that it takes less time to obtain superior neural networks than when using conventional approaches. This is because they discover the structures and weights of the neural networks simultaneously. Experimental results with the 1999 Defense Advanced Research Projects Agency (DARPA) Intrusion Detection Evaluation (IDEVAL) data confirm that ENNs are promising tools for intrusion detection. [ABSTRACT FROM AUTHOR]

In the area of cost-sensitive learning, inductive learning algorithms have been extended to handle different types of costs to better represent misclassification errors. Most of the previous works have only focused on how to deal with misclassification costs. In this paper, we address the equally important issue of how to handle the test costs associated with querying the missing values in a test case. When an attribute contains a missing value in a test case, it may or may not be worthwhile to take the extra effort in order to obtain a value for that attribute, or attributes, depending on how much benefit the new value will bring about in increasing the accuracy. In this paper, we consider how to integrate test-cost-sensitive learning with the handling of missing values in a unified framework that includes model building and a testing strategy. The testing strategies determine which attributes to perform the test on in order to minimize the sum of the classification costs and test costs. We show how to instantiate this framework in two popular machine learning algorithms: decision trees and naive Bayesian method. We empirically evaluate the test-cost-sensitive methods for handling missing values on several data sets. [ABSTRACT FROM AUTHOR]

A drawback of traditional data-mining methods is that they do not leverage prior knowledge of users. In prior work, we proposed a method that could discover unexpected patterns in data by using domain knowledge in a systematic manner. In this paper, we present new methods for discovering a minimal set of unexpected patterns by combining the two independent concepts of minimality and unexpectedness, both of which have been well-studied in the KDD literature. We demonstrate the strengths of this approach experimentally using a case study in a marketing domain. [ABSTRACT FROM AUTHOR]