A nonparametric Bayesian approach toward robot learning by demonstration

In the past years, many authors have considered application of machine learning methodologies to effect robot learning by demonstration. Gaussian mixture regression (GMR) is one of the most successful methodologies used for this purpose. A major limitation of GMR models concerns automatic selection of the proper number of model states, i.e., the number of model component densities. Existing methods, including likelihood- or entropy-based criteria, usually tend to yield noisy model size estimates while imposing heavy computational requirements. Recently, Dirichlet process (infinite) mixture models have emerged in the cornerstone of nonparametric Bayesian statistics as promising candidates for clustering applications where the number of clusters is unknown a priori. Under this motivation, to resolve the aforementioned issues of GMR-based methods for robot learning by demonstration, in this paper we introduce a nonparametric Bayesian formulation for the GMR model, the Dirichlet process GMR model. We derive an efficient variational Bayesian inference algorithm for the proposed model, and we experimentally investigate its efficacy as a robot learning by demonstration methodology, considering a number of demanding robot learning by demonstration scenarios

Memory-Efficient Global Refinement of Decision-Tree Ensembles and its Application to Face Alignment

Ren et al. recently introduced a method for aggregating multiple decision trees into a strong predictor by interpreting a path taken by a sample down each tree as a binary vector and performing linear regression on top of these vectors stacked together. They provided experimental evidence that the method offers advantages over the usual approaches for combining decision trees (random forests and boosting). The method truly shines when the regression target is a large vector with correlated dimensions, such as a 2D face shape represented with the positions of several facial landmarks. However, we argue that their basic method is not applicable in many practical scenarios due to large memory requirements. This paper shows how this issue can be solved through the use of quantization and architectural changes of the predictor that maps decision tree-derived encodings to the desired output.Comment: BMVC Newcastle 201

Nonparametrically consistent depth-based classifiers

We introduce a class of depth-based classification procedures that are of a nearest-neighbor nature. Depth, after symmetrization, indeed provides the center-outward ordering that is necessary and sufficient to define nearest neighbors. Like all their depth-based competitors, the resulting classifiers are affine-invariant, hence in particular are insensitive to unit changes. Unlike the former, however, the latter achieve Bayes consistency under virtually any absolutely continuous distributions - a concept we call nonparametric consistency, to stress the difference with the stronger universal consistency of the standard $k$NN classifiers. We investigate the finite-sample performances of the proposed classifiers through simulations and show that they outperform affine-invariant nearest-neighbor classifiers obtained through an obvious standardization construction. We illustrate the practical value of our classifiers on two real data examples. Finally, we shortly discuss the possible uses of our depth-based neighbors in other inference problems.Comment: Published at http://dx.doi.org/10.3150/13-BEJ561 in the Bernoulli (http://isi.cbs.nl/bernoulli/) by the International Statistical Institute/Bernoulli Society (http://isi.cbs.nl/BS/bshome.htm