Near-Optimal Target Learning With Stochastic Binary Signals

We study learning in a noisy bisection model: specifically, Bayesian algorithms to learn a target value V given access only to noisy realizations of whether V is less than or greater than a threshold theta. At step t = 0, 1, 2, ..., the learner sets threshold theta t and observes a noisy realization of sign(V - theta t). After T steps, the goal is to output an estimate V^ which is within an eta-tolerance of V . This problem has been studied, predominantly in environments with a fixed error probability q < 1/2 for the noisy realization of sign(V - theta t). In practice, it is often the case that q can approach 1/2, especially as theta -> V, and there is little known when this happens. We give a pseudo-Bayesian algorithm which provably converges to V. When the true prior matches our algorithm's Gaussian prior, we show near-optimal expected performance. Our methods extend to the general multiple-threshold setting where the observation noisily indicates which of k >= 2 regions V belongs to

Active Classification: Theory and Application to Underwater Inspection

We discuss the problem in which an autonomous vehicle must classify an object based on multiple views. We focus on the active classification setting, where the vehicle controls which views to select to best perform the classification. The problem is formulated as an extension to Bayesian active learning, and we show connections to recent theoretical guarantees in this area. We formally analyze the benefit of acting adaptively as new information becomes available. The analysis leads to a probabilistic algorithm for determining the best views to observe based on information theoretic costs. We validate our approach in two ways, both related to underwater inspection: 3D polyhedra recognition in synthetic depth maps and ship hull inspection with imaging sonar. These tasks encompass both the planning and recognition aspects of the active classification problem. The results demonstrate that actively planning for informative views can reduce the number of necessary views by up to 80% when compared to passive methods.Comment: 16 page

Active Sensing as Bayes-Optimal Sequential Decision Making

Sensory inference under conditions of uncertainty is a major problem in both machine learning and computational neuroscience. An important but poorly understood aspect of sensory processing is the role of active sensing. Here, we present a Bayes-optimal inference and control framework for active sensing, C-DAC (Context-Dependent Active Controller). Unlike previously proposed algorithms that optimize abstract statistical objectives such as information maximization (Infomax) [Butko & Movellan, 2010] or one-step look-ahead accuracy [Najemnik & Geisler, 2005], our active sensing model directly minimizes a combination of behavioral costs, such as temporal delay, response error, and effort. We simulate these algorithms on a simple visual search task to illustrate scenarios in which context-sensitivity is particularly beneficial and optimization with respect to generic statistical objectives particularly inadequate. Motivated by the geometric properties of the C-DAC policy, we present both parametric and non-parametric approximations, which retain context-sensitivity while significantly reducing computational complexity. These approximations enable us to investigate the more complex problem involving peripheral vision, and we notice that the difference between C-DAC and statistical policies becomes even more evident in this scenario.Comment: Scheduled to appear in UAI 201

A Nonparametric Conjugate Prior Distribution for the Maximizing Argument of a Noisy Function

We propose a novel Bayesian approach to solve stochastic optimization problems that involve finding extrema of noisy, nonlinear functions. Previous work has focused on representing possible functions explicitly, which leads to a two-step procedure of first, doing inference over the function space and second, finding the extrema of these functions. Here we skip the representation step and directly model the distribution over extrema. To this end, we devise a non-parametric conjugate prior based on a kernel regressor. The resulting posterior distribution directly captures the uncertainty over the maximum of the unknown function. We illustrate the effectiveness of our model by optimizing a noisy, high-dimensional, non-convex objective function.Comment: 9 pages, 5 figure