The Simulator: Understanding Adaptive Sampling in the Moderate-Confidence Regime

We propose a novel technique for analyzing adaptive sampling called the {\em Simulator}. Our approach differs from the existing methods by considering not how much information could be gathered by any fixed sampling strategy, but how difficult it is to distinguish a good sampling strategy from a bad one given the limited amount of data collected up to any given time. This change of perspective allows us to match the strength of both Fano and change-of-measure techniques, without succumbing to the limitations of either method. For concreteness, we apply our techniques to a structured multi-arm bandit problem in the fixed-confidence pure exploration setting, where we show that the constraints on the means imply a substantial gap between the moderate-confidence sample complexity, and the asymptotic sample complexity as $\delta \to 0$ found in the literature. We also prove the first instance-based lower bounds for the top-k problem which incorporate the appropriate log-factors. Moreover, our lower bounds zero-in on the number of times each \emph{individual} arm needs to be pulled, uncovering new phenomena which are drowned out in the aggregate sample complexity. Our new analysis inspires a simple and near-optimal algorithm for the best-arm and top-k identification, the first {\em practical} algorithm of its kind for the latter problem which removes extraneous log factors, and outperforms the state-of-the-art in experiments

Nonlinear Acoustics and an Inverse Scattering Problem

Abstract This Ph.D is concerned with wave propagation problems. The main focus is on nonlinear acoustics, looking at sonic boom propagation in a physically realistic atmosphere, whilst a secondary part will look at the problem of landmine detection and how to improve the target detection rates. The work on nonlinear acoustics emerged as a desire to model the behaviour of the sonic booms formed by supersonic aircraft in the atmosphere to see what environmental impact they would have on people and animals on the ground, in terms of the form of the sound waves once they reach the ground. The work on landmine detection originated from a Knowledge Transfer Partner- ship between the University of East Anglia (UEA) and Cobham Technical Services (CTS) organised through the Knowledge Transfer Network (KTN). This partnership took the form of a six month internship with work undertaken afterwards to publish the �ndings of the internship.

Automatic Landmarking for Non-cooperative 3D Face Recognition

This thesis describes a new framework for 3D surface landmarking and evaluates its performance for feature localisation on human faces. This framework has two main parts that can be designed and optimised independently. The first one is a keypoint detection system that returns positions of interest for a given mesh surface by using a learnt dictionary of local shapes. The second one is a labelling system, using model fitting approaches that establish a one-to-one correspondence between the set of unlabelled input points and a learnt representation of the class of object to detect. Our keypoint detection system returns local maxima over score maps that are generated from an arbitrarily large set of local shape descriptors. The distributions of these descriptors (scalars or histograms) are learnt for known landmark positions on a training dataset in order to generate a model. The similarity between the input descriptor value for a given vertex and a model shape is used as a descriptor-related score. Our labelling system can make use of both hypergraph matching techniques and rigid registration techniques to reduce the ambiguity attached to unlabelled input keypoints for which a list of model landmark candidates have been seeded. The soft matching techniques use multi-attributed hyperedges to reduce ambiguity, while the registration techniques use scale-adapted rigid transformation computed from 3 or more points in order to obtain one-to-one correspondences. Our final system achieves better or comparable (depending on the metric) results than the state-of-the-art while being more generic. It does not require pre-processing such as cropping, spike removal and hole filling and is more robust to occlusion of salient local regions, such as those near the nose tip and inner eye corners. It is also fully pose invariant and can be used with kinds of objects other than faces, provided that labelled training data is available

Phenomenology of Philosophy of Science: OPERA data

I observe that, as the physics side of the OPERA-anomaly story is apparently unfolding, there can still be motivation for philosophy of science to analyze the six months of madness physicists spent chasing the dream of a new fundamental-physics revolution. I here mainly report data on studies of the OPERA anomaly that could be relevant for analyses from the perspective of phenomenology of philosophy of science. Most of what I report is an insider's perspective on the debate that evolved from the original announcement by the OPERA collaboration of evidence of superluminal neutrinos. I also sketch out, from a broader perspective, some of the objectives I view as achievable for the phenomenology of philosophy of science.Comment: 13 pages, LaTe

Task-adaptable, Pervasive Perception for Robots Performing Everyday Manipulation

Intelligent robotic agents that help us in our day-to-day chores have been an aspiration of robotics researchers for decades. More than fifty years since the creation of the first intelligent mobile robotic agent, robots are still struggling to perform seemingly simple tasks, such as setting or cleaning a table. One of the reasons for this is that the unstructured environments these robots are expected to work in impose demanding requirements on a robota s perception system. Depending on the manipulation task the robot is required to execute, different parts of the environment need to be examined, the objects in it found and functional parts of these identified. This is a challenging task, since the visual appearance of the objects and the variety of scenes they are found in are large. This thesis proposes to treat robotic visual perception for everyday manipulation tasks as an open question-asnswering problem. To this end RoboSherlock, a framework for creating task-adaptable, pervasive perception systems is presented. Using the framework, robot perception is addressed from a systema s perspective and contributions to the state-of-the-art are proposed that introduce several enhancements which scale robot perception toward the needs of human-level manipulation. The contributions of the thesis center around task-adaptability and pervasiveness of perception systems. A perception task-language and a language interpreter that generates task-relevant perception plans is proposed. The task-language and task-interpreter leverage the power of knowledge representation and knowledge-based reasoning in order to enhance the question-answering capabilities of the system. Pervasiveness, a seamless integration of past, present and future percepts, is achieved through three main contributions: a novel way for recording, replaying and inspecting perceptual episodic memories, a new perception component that enables pervasive operation and maintains an object belief state and a novel prospection component that enables robots to relive their past experiences and anticipate possible future scenarios. The contributions are validated through several real world robotic experiments that demonstrate how the proposed system enhances robot perception

Metaheuristic design of feedforward neural networks: a review of two decades of research

Over the past two decades, the feedforward neural network (FNN) optimization has been a key interest among the researchers and practitioners of multiple disciplines. The FNN optimization is often viewed from the various perspectives: the optimization of weights, network architecture, activation nodes, learning parameters, learning environment, etc. Researchers adopted such different viewpoints mainly to improve the FNN's generalization ability. The gradient-descent algorithm such as backpropagation has been widely applied to optimize the FNNs. Its success is evident from the FNN's application to numerous real-world problems. However, due to the limitations of the gradient-based optimization methods, the metaheuristic algorithms including the evolutionary algorithms, swarm intelligence, etc., are still being widely explored by the researchers aiming to obtain generalized FNN for a given problem. This article attempts to summarize a broad spectrum of FNN optimization methodologies including conventional and metaheuristic approaches. This article also tries to connect various research directions emerged out of the FNN optimization practices, such as evolving neural network (NN), cooperative coevolution NN, complex-valued NN, deep learning, extreme learning machine, quantum NN, etc. Additionally, it provides interesting research challenges for future research to cope-up with the present information processing era

Learning To Scale Up Search-Driven Data Integration

A recent movement to tackle the long-standing data integration problem is a compositional and iterative approach, termed “pay-as-you-go” data integration. Under this model, the objective is to immediately support queries over “partly integrated” data, and to enable the user community to drive integration of the data that relate to their actual information needs. Over time, data will be gradually integrated. While the pay-as-you-go vision has been well-articulated for some time, only recently have we begun to understand how it can be manifested into a system implementation. One branch of this effort has focused on enabling queries through keyword search-driven data integration, in which users pose queries over partly integrated data encoded as a graph, receive ranked answers generated from data and metadata that is linked at query-time, and provide feedback on those answers. From this user feedback, the system learns to repair bad schema matches or record links. Many real world issues of uncertainty and diversity in search-driven integration remain open. Such tasks in search-driven integration require a combination of human guidance and machine learning. The challenge is how to make maximal use of limited human input. This thesis develops three methods to scale up search-driven integration, through learning from expert feedback: (1) active learning techniques to repair links from small amounts of user feedback; (2) collaborative learning techniques to combine users’ conflicting feedback; and (3) debugging techniques to identify where data experts could best improve integration quality. We implement these methods within the Q System, a prototype of search-driven integration, and validate their effectiveness over real-world datasets