Data mining using concepts of independence, unimodality and homophily

With the widespread use of information technologies, more and more complex data is generated and collected every day. Such complex data is various in structure, size, type and format, e.g. time series, texts, images, videos and graphs. Complex data is often high-dimensional and heterogeneous, which makes the separation of the wheat (knowledge) from the chaff (noise) more difficult. Clustering is a main mode of knowledge discovery from complex data, which groups objects in such a way that intra-group objects are more similar than inter-group objects. Traditional clustering methods such as k-means, Expectation-Maximization clustering (EM), DBSCAN and spectral clustering are either deceived by "the curse of dimensionality" or spoiled by heterogenous information. So, how to effectively explore complex data? In some cases, people may only have some partial information about the complex data. For example, in social networks, not every user provides his/her profile information such as the personal interests. Can we leverage the limited user information and friendship network wisely to infer the likely labels of the unlabeled users so that the advertisers can do accurate advertising? This is the problem of learning from labeled and unlabeled data, which is literarily attributed to semi-supervised classification. To gain insights into these problems, this thesis focuses on developing clustering and semi-supervised classification methods that are driven by the concepts of independence, unimodality and homophily. The proposed methods leverage techniques from diverse areas, such as statistics, information theory, graph theory, signal processing, optimization and machine learning. Specifically, this thesis develops four methods, i.e. FUSE, ISAAC, UNCut, and wvGN. FUSE and ISAAC are clustering techniques to discover statistically independent patterns from high-dimensional numerical data. UNCut is a clustering technique to discover unimodal clusters in attributed graphs in which not all the attributes are relevant to the graph structure. wvGN is a semi-supervised classification technique using the theory of homophily to infer the labels of the unlabeled vertices in graphs. We have verified our clustering and semi-supervised classification methods on various synthetic and real-world data sets. The results are superior to those of the state-of-the-art.Täglich werden durch den weit verbreiteten Einsatz von Informationstechnologien mehr und mehr komplexe Daten generiert und gesammelt. Diese komplexen Daten unterscheiden sich in der Struktur, Größe, Art und Format. Häufig anzutreffen sind beispielsweise Zeitreihen, Texte, Bilder, Videos und Graphen. Dabei sind diese Daten meist hochdimensional und heterogen, was die Trennung des Weizens ( Wissen ) von der Spreu ( Rauschen ) erschwert. Die Cluster Analyse ist dabei eine der wichtigsten Methoden um aus komplexen Daten wssen zu extrahieren. Dabei werden die Objekte eines Datensatzes in einer solchen Weise gruppiert, dass intra-gruppierte Objekte ähnlicher sind als Objekte anderer Gruppen. Der Einsatz von traditionellen Clustering-Methoden wie k-Means, Expectation-Maximization (EM), DBSCAN und Spektralclustering wird dabei entweder "durch der Fluch der Dimensionalität" erschwert oder ist angesichts der heterogenen Information nicht möglich. Wie erforscht man also solch komplexe Daten effektiv? Darüber hinaus ist es oft der Fall, dass für Objekte solcher Datensätze nur partiell Informationen vorliegen. So gibt in sozialen Netzwerken nicht jeder Benutzer seine Profil-Informationen wie die persönlichen Interessen frei. Können wir diese eingeschränkten Benutzerinformation trotzdem in Kombination mit dem Freundschaftsnetzwerk nutzen, um von von wenigen, einer Klasse zugeordneten Nutzern auf die anderen zu schließen. Beispielsweise um zielgerichtete Werbung zu schalten? Dieses Problem des Lernens aus klassifizierten und nicht klassifizierten Daten wird dem semi-supversised Learning zugeordnet. Um Einblicke in diese Probleme zu gewinnen, konzentriert sich diese Arbeit auf die Entwicklung von Clustering- und semi-überwachten Klassifikationsmethoden, die von den Konzepten der Unabhängigkeit, Unimodalität und Homophilie angetrieben werden. Die vorgeschlagenen Methoden nutzen Techniken aus verschiedenen Bereichen der Statistik, Informationstheorie, Graphentheorie, Signalverarbeitung, Optimierung und des maschinelles Lernen. Dabei stellt diese Arbeit vier Techniken vor: FUSE, ISAAC, UNCut, sowie wvGN. FUSE und ISAAC sind Clustering-Techniken, um statistisch unabhängige Muster aus hochdimensionalen numerischen Daten zu entdecken. UNCut ist eine Clustering-Technik, um unimodale Cluster in attributierten Graphen zu entdecken, in denen die Kanten und Attribute heterogene Informationen liefern. wvGN ist eine halbüberwachte Klassifikationstechnik, die Homophilie verwendet, um von gelabelten Kanten auf ungelabelte Kanten im Graphen zu schließen. Wir haben diese Clustering und semi-überwachten Klassifizierungsmethoden auf verschiedenen synthetischen und realen Datensätze überprüft. Die Ergebnisse sind denen von bisherigen State-of-the-Art-Methoden überlegen

iBCM: Interactive Bayesian Case Model Empowering Humans via Intuitive Interaction

Clustering methods optimize the partitioning of data points with respect to an internal metric, such as likelihood, in order to approximate the goodness of clustering. However, this internal metric does not necessarily translate into effective clustering from the user's perspective. This work presents the interactive Bayesian Case Model (iBCM), a model that opens a communication channel between the clustering model and the user. Users can provide direct input to iBCM in order to achieve effective clustering results, and iBCM optimizes the clustering by creating a balance between what the data indicate and what makes the most sense to the user. This model provides feedback for users and does not assume any prior knowledge of machine learning on their part. We provide quantitative evidence that users are able to obtain more satisfactory clustering results through iBCM than without an interactive model. We also demonstrate the use of this method in a real-world setting where computer language class teachers utilize iBCM to cluster students' coding assignments for grading

Adaptive, locally-linear models of complex dynamics

The dynamics of complex systems generally include high-dimensional, non-stationary and non-linear behavior, all of which pose fundamental challenges to quantitative understanding. To address these difficulties we detail a new approach based on local linear models within windows determined adaptively from the data. While the dynamics within each window are simple, consisting of exponential decay, growth and oscillations, the collection of local parameters across all windows provides a principled characterization of the full time series. To explore the resulting model space, we develop a novel likelihood-based hierarchical clustering and we examine the eigenvalues of the linear dynamics. We demonstrate our analysis with the Lorenz system undergoing stable spiral dynamics and in the standard chaotic regime. Applied to the posture dynamics of the nematode $C. elegans$ our approach identifies fine-grained behavioral states and model dynamics which fluctuate close to an instability boundary, and we detail a bifurcation in a transition from forward to backward crawling. Finally, we analyze whole-brain imaging in $C. elegans$ and show that the stability of global brain states changes with oxygen concentration.Comment: 25 pages, 16 figure

Data mining using concepts of independence, unimodality and homophily

With the widespread use of information technologies, more and more complex data is generated and collected every day. Such complex data is various in structure, size, type and format, e.g. time series, texts, images, videos and graphs. Complex data is often high-dimensional and heterogeneous, which makes the separation of the wheat (knowledge) from the chaff (noise) more difficult. Clustering is a main mode of knowledge discovery from complex data, which groups objects in such a way that intra-group objects are more similar than inter-group objects. Traditional clustering methods such as k-means, Expectation-Maximization clustering (EM), DBSCAN and spectral clustering are either deceived by "the curse of dimensionality" or spoiled by heterogenous information. So, how to effectively explore complex data? In some cases, people may only have some partial information about the complex data. For example, in social networks, not every user provides his/her profile information such as the personal interests. Can we leverage the limited user information and friendship network wisely to infer the likely labels of the unlabeled users so that the advertisers can do accurate advertising? This is the problem of learning from labeled and unlabeled data, which is literarily attributed to semi-supervised classification. To gain insights into these problems, this thesis focuses on developing clustering and semi-supervised classification methods that are driven by the concepts of independence, unimodality and homophily. The proposed methods leverage techniques from diverse areas, such as statistics, information theory, graph theory, signal processing, optimization and machine learning. Specifically, this thesis develops four methods, i.e. FUSE, ISAAC, UNCut, and wvGN. FUSE and ISAAC are clustering techniques to discover statistically independent patterns from high-dimensional numerical data. UNCut is a clustering technique to discover unimodal clusters in attributed graphs in which not all the attributes are relevant to the graph structure. wvGN is a semi-supervised classification technique using the theory of homophily to infer the labels of the unlabeled vertices in graphs. We have verified our clustering and semi-supervised classification methods on various synthetic and real-world data sets. The results are superior to those of the state-of-the-art.Täglich werden durch den weit verbreiteten Einsatz von Informationstechnologien mehr und mehr komplexe Daten generiert und gesammelt. Diese komplexen Daten unterscheiden sich in der Struktur, Größe, Art und Format. Häufig anzutreffen sind beispielsweise Zeitreihen, Texte, Bilder, Videos und Graphen. Dabei sind diese Daten meist hochdimensional und heterogen, was die Trennung des Weizens ( Wissen ) von der Spreu ( Rauschen ) erschwert. Die Cluster Analyse ist dabei eine der wichtigsten Methoden um aus komplexen Daten wssen zu extrahieren. Dabei werden die Objekte eines Datensatzes in einer solchen Weise gruppiert, dass intra-gruppierte Objekte ähnlicher sind als Objekte anderer Gruppen. Der Einsatz von traditionellen Clustering-Methoden wie k-Means, Expectation-Maximization (EM), DBSCAN und Spektralclustering wird dabei entweder "durch der Fluch der Dimensionalität" erschwert oder ist angesichts der heterogenen Information nicht möglich. Wie erforscht man also solch komplexe Daten effektiv? Darüber hinaus ist es oft der Fall, dass für Objekte solcher Datensätze nur partiell Informationen vorliegen. So gibt in sozialen Netzwerken nicht jeder Benutzer seine Profil-Informationen wie die persönlichen Interessen frei. Können wir diese eingeschränkten Benutzerinformation trotzdem in Kombination mit dem Freundschaftsnetzwerk nutzen, um von von wenigen, einer Klasse zugeordneten Nutzern auf die anderen zu schließen. Beispielsweise um zielgerichtete Werbung zu schalten? Dieses Problem des Lernens aus klassifizierten und nicht klassifizierten Daten wird dem semi-supversised Learning zugeordnet. Um Einblicke in diese Probleme zu gewinnen, konzentriert sich diese Arbeit auf die Entwicklung von Clustering- und semi-überwachten Klassifikationsmethoden, die von den Konzepten der Unabhängigkeit, Unimodalität und Homophilie angetrieben werden. Die vorgeschlagenen Methoden nutzen Techniken aus verschiedenen Bereichen der Statistik, Informationstheorie, Graphentheorie, Signalverarbeitung, Optimierung und des maschinelles Lernen. Dabei stellt diese Arbeit vier Techniken vor: FUSE, ISAAC, UNCut, sowie wvGN. FUSE und ISAAC sind Clustering-Techniken, um statistisch unabhängige Muster aus hochdimensionalen numerischen Daten zu entdecken. UNCut ist eine Clustering-Technik, um unimodale Cluster in attributierten Graphen zu entdecken, in denen die Kanten und Attribute heterogene Informationen liefern. wvGN ist eine halbüberwachte Klassifikationstechnik, die Homophilie verwendet, um von gelabelten Kanten auf ungelabelte Kanten im Graphen zu schließen. Wir haben diese Clustering und semi-überwachten Klassifizierungsmethoden auf verschiedenen synthetischen und realen Datensätze überprüft. Die Ergebnisse sind denen von bisherigen State-of-the-Art-Methoden überlegen

Generative Models for Learning Robot Manipulation Skills from Humans

A long standing goal in artificial intelligence is to make robots seamlessly interact with humans in performing everyday manipulation skills. Learning from demonstrations or imitation learning provides a promising route to bridge this gap. In contrast to direct trajectory learning from demonstrations, many problems arise in interactive robotic applications that require higher contextual level understanding of the environment. This requires learning invariant mappings in the demonstrations that can generalize across different environmental situations such as size, position, orientation of objects, viewpoint of the observer, etc. In this thesis, we address this challenge by encapsulating invariant patterns in the demonstrations using probabilistic learning models for acquiring dexterous manipulation skills. We learn the joint probability density function of the demonstrations with a hidden semi-Markov model, and smoothly follow the generated sequence of states with a linear quadratic tracking controller. The model exploits the invariant segments (also termed as sub-goals, options or actions) in the demonstrations and adapts the movement in accordance with the external environmental situations such as size, position and orientation of the objects in the environment using a task-parameterized formulation. We incorporate high-dimensional sensory data for skill acquisition by parsimoniously representing the demonstrations using statistical subspace clustering methods and exploit the coordination patterns in latent space. To adapt the models on the fly and/or teach new manipulation skills online with the streaming data, we formulate a non-parametric scalable online sequence clustering algorithm with Bayesian non-parametric mixture models to avoid the model selection problem while ensuring tractability under small variance asymptotics. We exploit the developed generative models to perform manipulation skills with remotely operated vehicles over satellite communication in the presence of communication delays and limited bandwidth. A set of task-parameterized generative models are learned from the demonstrations of different manipulation skills provided by the teleoperator. The model captures the intention of teleoperator on one hand and provides assistance in performing remote manipulation tasks on the other hand under varying environmental situations. The assistance is formulated under time-independent shared control, where the model continuously corrects the remote arm movement based on the current state of the teleoperator; and/or time-dependent autonomous control, where the model synthesizes the movement of the remote arm for autonomous skill execution. Using the proposed methodology with the two-armed Baxter robot as a mock-up for semi-autonomous teleoperation, we are able to learn manipulation skills such as opening a valve, pick-and-place an object by obstacle avoidance, hot-stabbing (a specialized underwater task akin to peg-in-a-hole task), screw-driver target snapping, and tracking a carabiner in as few as 4 - 8 demonstrations. Our study shows that the proposed manipulation assistance formulations improve the performance of the teleoperator by reducing the task errors and the execution time, while catering for the environmental differences in performing remote manipulation tasks with limited bandwidth and communication delays