Feature discovery and visualization of robot mission data using convolutional autoencoders and Bayesian nonparametric topic models

The gap between our ability to collect interesting data and our ability to analyze these data is growing at an unprecedented rate. Recent algorithmic attempts to fill this gap have employed unsupervised tools to discover structure in data. Some of the most successful approaches have used probabilistic models to uncover latent thematic structure in discrete data. Despite the success of these models on textual data, they have not generalized as well to image data, in part because of the spatial and temporal structure that may exist in an image stream. We introduce a novel unsupervised machine learning framework that incorporates the ability of convolutional autoencoders to discover features from images that directly encode spatial information, within a Bayesian nonparametric topic model that discovers meaningful latent patterns within discrete data. By using this hybrid framework, we overcome the fundamental dependency of traditional topic models on rigidly hand-coded data representations, while simultaneously encoding spatial dependency in our topics without adding model complexity. We apply this model to the motivating application of high-level scene understanding and mission summarization for exploratory marine robots. Our experiments on a seafloor dataset collected by a marine robot show that the proposed hybrid framework outperforms current state-of-the-art approaches on the task of unsupervised seafloor terrain characterization.Comment: 8 page

Leveraging Node Attributes for Incomplete Relational Data

Relational data are usually highly incomplete in practice, which inspires us to leverage side information to improve the performance of community detection and link prediction. This paper presents a Bayesian probabilistic approach that incorporates various kinds of node attributes encoded in binary form in relational models with Poisson likelihood. Our method works flexibly with both directed and undirected relational networks. The inference can be done by efficient Gibbs sampling which leverages sparsity of both networks and node attributes. Extensive experiments show that our models achieve the state-of-the-art link prediction results, especially with highly incomplete relational data.Comment: Appearing in ICML 201

Detecting change points in the large-scale structure of evolving networks

Interactions among people or objects are often dynamic in nature and can be represented as a sequence of networks, each providing a snapshot of the interactions over a brief period of time. An important task in analyzing such evolving networks is change-point detection, in which we both identify the times at which the large-scale pattern of interactions changes fundamentally and quantify how large and what kind of change occurred. Here, we formalize for the first time the network change-point detection problem within an online probabilistic learning framework and introduce a method that can reliably solve it. This method combines a generalized hierarchical random graph model with a Bayesian hypothesis test to quantitatively determine if, when, and precisely how a change point has occurred. We analyze the detectability of our method using synthetic data with known change points of different types and magnitudes, and show that this method is more accurate than several previously used alternatives. Applied to two high-resolution evolving social networks, this method identifies a sequence of change points that align with known external "shocks" to these networks

On the future of astrostatistics: statistical foundations and statistical practice

This paper summarizes a presentation for a panel discussion on "The Future of Astrostatistics" held at the Statistical Challenges in Modern Astronomy V conference at Pennsylvania State University in June 2011. I argue that the emerging needs of astrostatistics may both motivate and benefit from fundamental developments in statistics. I highlight some recent work within statistics on fundamental topics relevant to astrostatistical practice, including the Bayesian/frequentist debate (and ideas for a synthesis), multilevel models, and multiple testing. As an important direction for future work in statistics, I emphasize that astronomers need a statistical framework that explicitly supports unfolding chains of discovery, with acquisition, cataloging, and modeling of data not seen as isolated tasks, but rather as parts of an ongoing, integrated sequence of analyses, with information and uncertainty propagating forward and backward through the chain. A prototypical example is surveying of astronomical populations, where source detection, demographic modeling, and the design of survey instruments and strategies all interact.Comment: 8 pp, 2 figures. To appear in "Statistical Challenges in Modern Astronomy V," (Lecture Notes in Statistics, Vol. 209), ed. Eric D. Feigelson and G. Jogesh Babu; publication planned for Sep 2012; see http://www.springer.com/statistics/book/978-1-4614-3519-

Extracting Hierarchies of Search Tasks & Subtasks via a Bayesian Nonparametric Approach

A significant amount of search queries originate from some real world information need or tasks. In order to improve the search experience of the end users, it is important to have accurate representations of tasks. As a result, significant amount of research has been devoted to extracting proper representations of tasks in order to enable search systems to help users complete their tasks, as well as providing the end user with better query suggestions, for better recommendations, for satisfaction prediction, and for improved personalization in terms of tasks. Most existing task extraction methodologies focus on representing tasks as flat structures. However, tasks often tend to have multiple subtasks associated with them and a more naturalistic representation of tasks would be in terms of a hierarchy, where each task can be composed of multiple (sub)tasks. To this end, we propose an efficient Bayesian nonparametric model for extracting hierarchies of such tasks \& subtasks. We evaluate our method based on real world query log data both through quantitative and crowdsourced experiments and highlight the importance of considering task/subtask hierarchies.Comment: 10 pages. Accepted at SIGIR 2017 as a full pape