Explain what you see:argumentation-based learning and robotic vision

In this thesis, we have introduced new techniques for the problems of open-ended learning, online incremental learning, and explainable learning. These methods have applications in the classification of tabular data, 3D object category recognition, and 3D object parts segmentation. We have utilized argumentation theory and probability theory to develop these methods. The first proposed open-ended online incremental learning approach is Argumentation-Based online incremental Learning (ABL). ABL works with tabular data and can learn with a small number of learning instances using an abstract argumentation framework and bipolar argumentation framework. It has a higher learning speed than state-of-the-art online incremental techniques. However, it has high computational complexity. We have addressed this problem by introducing Accelerated Argumentation-Based Learning (AABL). AABL uses only an abstract argumentation framework and uses two strategies to accelerate the learning process and reduce the complexity. The second proposed open-ended online incremental learning approach is the Local Hierarchical Dirichlet Process (Local-HDP). Local-HDP aims at addressing two problems of open-ended category recognition of 3D objects and segmenting 3D object parts. We have utilized Local-HDP for the task of object part segmentation in combination with AABL to achieve an interpretable model to explain why a certain 3D object belongs to a certain category. The explanations of this model tell a user that a certain object has specific object parts that look like a set of the typical parts of certain categories. Moreover, integrating AABL and Local-HDP leads to a model that can handle a high degree of occlusion

Bayesian nonparametric models for data exploration

Mención Internacional en el título de doctorMaking sense out of data is one of the biggest challenges of our time. With the emergence of technologies such as the Internet, sensor networks or deep genome sequencing, a true data explosion has been unleashed that affects all fields of science and our everyday life. Recent breakthroughs, such as self-driven cars or champion-level Go player programs, have demonstrated the potential benefits from exploiting data, mostly in well-defined supervised tasks. However, we have barely started to actually explore and truly understand data. In fact, data holds valuable information for answering most important questions for humanity: How does aging impact our physical capabilities? What are the underlying mechanisms of cancer? Which factors make countries wealthier than others? Most of these questions cannot be stated as well-defined supervised problems, and might benefit enormously from multidisciplinary research efforts involving easy-to-interpret models and rigorous data exploratory analyses. Efficient data exploration might lead to life-changing scientific discoveries, which can later be turned into a more impactful exploitation phase, to put forward more informed policy recommendations, decision-making systems, medical protocols or improved models for highly accurate predictions. This thesis proposes tailored Bayesian nonparametric (BNP) models to solve specific data exploratory tasks across different scientific areas including sport sciences, cancer research, and economics. We resort to BNP approaches to facilitate the discovery of unexpected hidden patterns within data. BNP models place a prior distribution over an infinite-dimensional parameter space, which makes them particularly useful in probabilistic models where the number of hidden parameters is unknown a priori. Under this prior distribution, the posterior distribution of the hidden parameters given the data will assign high probability mass to those configurations that best explain the observations. Hence, inference over the hidden variables can be performed using standard Bayesian inference techniques, therefore avoiding expensive model selection steps. This thesis is application-focused and highly multidisciplinary. More precisely, we propose an automatic grading system for sportive competitions to compare athletic performance regardless of age, gender and environmental aspects; we develop BNP models to perform genetic association and biomarker discovery in cancer research, either using genetic information and Electronic Health Records or clinical trial data; finally, we present a flexible infinite latent factor model of international trade data to understand the underlying economic structure of countries and their evolution over time.Uno de los principales desafíos de nuestro tiempo es encontrar sentido dentro de los datos. Con la aparición de tecnologías como Internet, redes de sensores, o métodos de secuenciación profunda del genoma, una verdadera explosión digital se ha visto desencadenada, afectando todos los campos científicos, así como nuestra vida diaria. Logros recientes como pueden ser los coches auto-dirigidos o programas que ganan a los seres humanos al milenario juego del Go, han demostrado con creces los posibles beneficios que podemos obtener de la explotación de datos, mayoritariamente en tareas supervisadas bien definidas. No obstante, apenas hemos empezado con la exploración de datos y su verdadero entendimiento. En verdad, los datos encierran información muy valiosa para responder a muchas de las preguntas más importantes para la humanidad: ¿Cómo afecta el envejecimiento a nuestras aptitudes físicas? ¿Cuáles son los mecanismos subyacentes del cáncer? ¿Qué factores explican la riqueza de ciertos países frente a otros? Si bien la mayoría de estas preguntas no pueden formularse como problemas supervisados bien definidos, éstas pueden ser abordadas mediante esfuerzos de investigación multidisciplinar que involucren modelos fáciles de interpretar y análisis exploratorios rigurosos. Explorar los datos de manera eficiente abre potencialmente la puerta a un sinnúmero de descubrimientos científicos en diversas áreas con impacto real en nuestras vidas, descubrimientos que a su vez pueden llevarnos a una mejor explotación de los datos, resultando en recomendaciones políticas adecuadas, sistemas precisos de toma de decisión, protocolos médicos optimizados o modelos con mejores capacidades predictivas. Esta tesis propone modelos Bayesianos no-paramétricos (BNP) adecuados para la resolución específica de tareas explorativas de los datos en diversos ámbitos científicos incluyendo ciencias del deporte, investigación contra el cáncer, o economía. Recurrimos a un planteamiento BNP para facilitar el descubrimiento de patrones ocultos inesperados subyacentes en los datos. Los modelos BNP definen una distribución a priori sobre un espacio de parámetros de dimensión infinita, lo cual los hace especialmente atractivos para enfoques probabilísticos donde el número de parámetros latentes es en principio desconocido. Bajo dicha distribución a priori, la distribución a posteriori de los parámetros ocultos dados los datos asignará mayor probabilidad a aquellas configuraciones que mejor explican las observaciones. De esta manera, la inferencia sobre el espacio de variables ocultas puede realizarse mediante técnicas estándar de inferencia Bayesiana, evitando el proceso de selección de modelos. Esta tesis se centra en el ámbito de las aplicaciones, y es de naturaleza multidisciplinar. En concreto, proponemos un sistema de gradación automática para comparar el rendimiento deportivo de atletas independientemente de su edad o género, así como de otros factores del entorno. Desarrollamos modelos BNP para descubrir asociaciones genéticas y biomarcadores dentro de la investigación contra el cáncer, ya sea contrastando información genética con la historia clínica electrónica de los pacientes, o utilizando datos de ensayos clínicos; finalmente, presentamos un modelo flexible de factores latentes infinito para datos de comercio internacional, con el objetivo de entender la estructura económica de los distintos países y su correspondiente evolución a lo largo del tiempo.Programa Oficial de Doctorado en Multimedia y ComunicacionesPresidente: Joaquín Míguez Arenas.- Secretario: Daniel Hernández Lobato.- Vocal: Cédric Archambea

Latent variable models for understanding user behavior in software applications

Thesis: Ph. D., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2018.Cataloged from PDF version of thesis.Includes bibliographical references (pages 147-157).Understanding user behavior in software applications is of significant interest to software developers and companies. By having a better understanding of the user needs and usage patterns, the developers can design a more efficient workflow, add new features, or even automate the user's workflow. In this thesis, I propose novel latent variable models to understand, predict and eventually automate the user interaction with a software application. I start by analyzing users' clicks using time series models; I introduce models and inference algorithms for time series segmentation which are scalable to large-scale user datasets. Next, using a conditional variational autoencoder and some related models, I introduce a framework for automating the user interaction with a software application. I focus on photo enhancement applications, but this framework can be applied to any domain where segmentation, prediction and personalization is valuable. Finally, by combining sequential Monte Carlo and variational inference, I propose a new inference scheme which has better convergence properties than other reasonable baselines.by Ardavan Saeedi.Ph. D

Modeling Semi-Bounded Support Data using Non-Gaussian Hidden Markov Models with Applications

With the exponential growth of data in all formats, and data categorization rapidly becoming one of the most essential components of data analysis, it is crucial to research and identify hidden patterns in order to extract valuable information that promotes accurate and solid decision making. Because data modeling is the first stage in accomplishing any of these tasks, its accuracy and consistency are critical for later development of a complete data processing framework. Furthermore, an appropriate distribution selection that corresponds to the nature of the data is a particularly interesting subject of research. Hidden Markov Models (HMMs) are some of the most impressively powerful probabilistic models, which have recently made a big resurgence in the machine learning industry, despite having been recognized for decades. Their ever-increasing application in a variety of critical practical settings to model varied and heterogeneous data (image, video, audio, time series, etc.) is the subject of countless extensions. Equally prevalent, finite mixture models are a potent tool for modeling heterogeneous data of various natures. The over-use of Gaussian mixture models for data modeling in the literature is one of the main driving forces for this thesis. This work focuses on modeling positive vectors, which naturally occur in a variety of real-life applications, by proposing novel HMMs extensions using the Inverted Dirichlet, the Generalized Inverted Dirichlet and the BetaLiouville mixture models as emission probabilities. These extensions are motivated by the proven capacity of these mixtures to deal with positive vectors and overcome mixture models’ impotence to account for any ordering or temporal limitations relative to the information. We utilize the aforementioned distributions to derive several theoretical approaches for learning and deploying Hidden Markov Modelsinreal-world settings. Further, we study online learning of parameters and explore the integration of a feature selection methodology. Extensive experimentation on highly challenging applications ranging from image categorization, video categorization, indoor occupancy estimation and Natural Language Processing, reveals scenarios in which such models are appropriate to apply, and proves their effectiveness compared to the extensively used Gaussian-based models

Nonparametric Bayesian methods in robotic vision

In this dissertation non-parametric Bayesian methods are used in the application of robotic vision. Robots make use of depth sensors that represent their environment using point clouds. Non-parametric Bayesian methods can (1) determine how good an object is recognized, and (2) determine how many objects a particular scene contains. When there is a model available for the object to be recognized and the nature of perceptual error is known, a Bayesian method will act optimally.In this dissertation Bayesian models are developed to represent geometric objects such as lines and line segments (consisting out of points). The infinite line model and the infinite line segment model use a non-parametric Bayesian model, to be precise, a Dirichlet process, to represent the number of objects. The line or the line segment is represented by a probability distribution. The lines can be represented by conjugate distributions and then Gibbs sampling can be used. The line segments are not represented by conjugate distributions and therefore a split-merge sampler is used.A split-merge sampler fits line segments by assigning points to a hypothetical line segment. Then it proposes splits of a single line segment or merges of two line segments. A new sampler, the triadic split-merge sampler, introduces steps that involve three line segments. In this dissertation, the new sampler is compared to a conventional split-merge sampler. The triadic sampler can be applied to other problems as well, i.e., not only problems in robotic perception.The models for objects can also be learned. In the dissertation this is done for more complex objects, such as cubes, built up out of hundreds of points. An auto-encoder then learns to generate a representative object given the data. The auto-encoder uses a newly defined reconstruction distance, called the partitioning earth mover’s distance. The object that is learned by the auto-encoder is used in a triadic sampler to (1) identify the point cloud objects and to (2) establish multiple occurrences of those objects in the point cloud.Algorithms and the Foundations of Software technolog

Doctor of Philosophy

dissertationLatent structures play a vital role in many data analysis tasks. By providing compact yet expressive representations, such structures can offer useful insights into the complex and high-dimensional datasets encountered in domains such as computational biology, computer vision, natural language processing, etc. Specifying the right complexity of these latent structures for a given problem is an important modeling decision. Instead of using models with an a priori fixed complexity, it is desirable to have models that can adapt their complexity as the data warrant. Nonparametric Bayesian models are motivated precisely based on this desideratum by offering a flexible modeling paradigm for data without limiting the model-complexity a priori. The flexibility comes from the model's ability to adjust its complexity adaptively with data. This dissertation is about nonparametric Bayesian learning of two specific types of latent structures: (1) low-dimensional latent features underlying high-dimensional observed data where the latent features could exhibit interdependencies, and (2) latent task structures that capture how a set of learning tasks relate with each other, a notion critical in the paradigm of Multitask Learning where the goal is to solve multiple learning tasks jointly in order to borrow information across similar tasks. Another focus of this dissertation is on designing efficient approximate inference algorithms for nonparametric Bayesian models. Specifically, for the nonparametric Bayesian latent feature model where the goal is to infer the binary-valued latent feature assignment matrix for a given set of observations, the dissertation proposes two approximate inference methods. The first one is a search-based algorithm to find the maximum-a-posteriori (MAP) solution for the latent feature assignment matrix. The second one is a sequential Monte-Carlo-based approximate inference algorithm that allows processing the data oneexample- at-a-time while being space-efficient in terms of the storage required to represent the posterior distribution of the latent feature assignment matrix

Background Subtraction with Dirichlet Process Mixture Models

ESPRC Grant: EP/G063974/

Statistical Machine Learning for Modeling and Control of Stochastic Structured Systems

Machine learning and its various applications have driven innovation in robotics, synthetic perception, and data analytics. The last decade especially has experienced an explosion in interest in the research and development of artificial intelligence with successful adoption and deployment in some domains. A significant force behind these advances has been an abundance of data and the evolution of simple computational models and tools with a capacity to scale up to massive learning automata. Monolithic neural networks with billions of parameters that rely on automatic differentiation are a prime example of the significant role efficient computation has had on supercharging the ability of well-established representations to extract intelligent patterns from unstructured data. Nonetheless, despite the strides taken in the digital domains of vision and natural language processing, applications of optimal control and robotics significantly trail behind and have not been able to capitalize as much on the latest trends of machine learning. This discrepancy can be explained by the limited transferability of learning concepts that rely on full differentiability to the heavily structured physical and human interaction environments, not to mention the substantial cost of data generation on real physical systems. Therefore, these factors severely limit the application scope of loosely-structured over-parameterized data-crunching machines in the mechanical realm of robot learning and control. This thesis investigates modeling paradigms of hierarchical and switching systems to tackle some of the previously highlighted issues. This research direction is motivated by insights into universal function approximation via local cooperating units and the promise of inherently regularized representations through explicit structural design. Moreover, we explore ideas from robust optimization that address model mismatch issues in statistical models and outline how related methods may be used to improve the tractability of state filtering in stochastic hybrid systems. In Chapter 2, we consider hierarchical modeling for general regression problems. The presented approach is a generative probabilistic interpretation of local regression techniques that approximate nonlinear functions through a set of local linear or polynomial units. The number of available units is crucial in such models, as it directly balances representational power with the parametric complexity. This ambiguity is addressed by using principles from Bayesian nonparametrics to formulate flexible models that adapt their complexity to the data and can potentially encompass an infinite number of components. To learn these representations, we present two efficient variational inference techniques that scale well with data and highlight the advantages of hierarchical infinite local regression models, such as dealing with non-smooth functions, mitigating catastrophic forgetting, and enabling parameter sharing and fast predictions. Finally, we validate this approach on a set of large inverse dynamics datasets and test the learned models in real-world control scenarios. Chapter 3 addresses discrete-continuous hybrid modeling and control for stochastic dynamical systems, which implies dealing with time-series data. In this scenario, we develop an automatic system identification technique that decomposes nonlinear systems into hybrid automata and leverages the resulting structure to learn switching feedback control via hierarchical reinforcement learning. In the process, we rely on an augmented closed-loop hidden Markov model architecture that captures time correlations over long horizons and provides a principled Bayesian inference framework for learning hybrid representations and filtering the hidden discrete states to apply control accordingly. Finally, we embed this structure explicitly into a novel hybrid relative entropy policy search algorithm that optimizes a set of local polynomial feedback controllers and value functions. We validate the overall switching-system perspective by benchmarking the open-loop predictive performance against popular black-box representations. We also provide qualitative empirical results for hybrid reinforcement learning on common nonlinear control tasks. In Chapter 4, we attend to a general and fundamental problem in learning for control, namely robustness in data-driven stochastic optimization. The question of sensitivity has a strong priority, given the rising popularity of embedding statistical models into stochastic control frameworks. However, data from dynamical, especially mechanical, systems is often scarce due to a high extraction cost and limited coverage of the state-action space. The result is usually poor models with narrow validity and brittle control laws, particularly in an ill-posed over-parameterized learning example. We propose to robustify stochastic control by finding the worst-case distribution over the dynamics and optimizing a corresponding robust policy that minimizes the probability of catastrophic failures. We achieve this goal by formulating a two-stage iterative minimax optimization problem that finds the most pessimistic adversary in a trust region around a nominal model and uses it to optimize a robust optimal controller. We test this approach on a set of linear and nonlinear stochastic systems and supply empirical evidence of its practicality. Finally, we provide an outlook on how similar multi-stage distributional optimization techniques can be applied in approximate filtering of stochastic switching systems in order to tackle the issue of exponential explosion in state mixture components. In summation, the individual contributions of this thesis are a collection of interconnected principles for structured and robust learning for control. Although many challenges remain ahead, this research lays a foundation for reflecting on future structured learning questions that strive to combine optimal control and statistical machine learning perspectives for the automatic decomposition and optimization of hierarchical models

An Unsupervised Approach to Modelling Visual Data

For very large visual datasets, producing expert ground-truth data for training supervised algorithms can represent a substantial human effort. In these situations there is scope for the use of unsupervised approaches that can model collections of images and automatically summarise their content. The primary motivation for this thesis comes from the problem of labelling large visual datasets of the seafloor obtained by an Autonomous Underwater Vehicle (AUV) for ecological analysis. It is expensive to label this data, as taxonomical experts for the specific region are required, whereas automatically generated summaries can be used to focus the efforts of experts, and inform decisions on additional sampling. The contributions in this thesis arise from modelling this visual data in entirely unsupervised ways to obtain comprehensive visual summaries. Firstly, popular unsupervised image feature learning approaches are adapted to work with large datasets and unsupervised clustering algorithms. Next, using Bayesian models the performance of rudimentary scene clustering is boosted by sharing clusters between multiple related datasets, such as regular photo albums or AUV surveys. These Bayesian scene clustering models are extended to simultaneously cluster sub-image segments to form unsupervised notions of “objects” within scenes. The frequency distribution of these objects within scenes is used as the scene descriptor for simultaneous scene clustering. Finally, this simultaneous clustering model is extended to make use of whole image descriptors, which encode rudimentary spatial information, as well as object frequency distributions to describe scenes. This is achieved by unifying the previously presented Bayesian clustering models, and in so doing rectifies some of their weaknesses and limitations. Hence, the final contribution of this thesis is a practical unsupervised algorithm for modelling images from the super-pixel to album levels, and is applicable to large datasets