16,995 research outputs found
The ABACOC Algorithm: a Novel Approach for Nonparametric Classification of Data Streams
Stream mining poses unique challenges to machine learning: predictive models
are required to be scalable, incrementally trainable, must remain bounded in
size (even when the data stream is arbitrarily long), and be nonparametric in
order to achieve high accuracy even in complex and dynamic environments.
Moreover, the learning system must be parameterless ---traditional tuning
methods are problematic in streaming settings--- and avoid requiring prior
knowledge of the number of distinct class labels occurring in the stream. In
this paper, we introduce a new algorithmic approach for nonparametric learning
in data streams. Our approach addresses all above mentioned challenges by
learning a model that covers the input space using simple local classifiers.
The distribution of these classifiers dynamically adapts to the local (unknown)
complexity of the classification problem, thus achieving a good balance between
model complexity and predictive accuracy. We design four variants of our
approach of increasing adaptivity. By means of an extensive empirical
evaluation against standard nonparametric baselines, we show state-of-the-art
results in terms of accuracy versus model size. For the variant that imposes a
strict bound on the model size, we show better performance against all other
methods measured at the same model size value. Our empirical analysis is
complemented by a theoretical performance guarantee which does not rely on any
stochastic assumption on the source generating the stream
Online Isotonic Regression
We consider the online version of the isotonic regression problem. Given a
set of linearly ordered points (e.g., on the real line), the learner must
predict labels sequentially at adversarially chosen positions and is evaluated
by her total squared loss compared against the best isotonic (non-decreasing)
function in hindsight. We survey several standard online learning algorithms
and show that none of them achieve the optimal regret exponent; in fact, most
of them (including Online Gradient Descent, Follow the Leader and Exponential
Weights) incur linear regret. We then prove that the Exponential Weights
algorithm played over a covering net of isotonic functions has a regret bounded
by and present a matching
lower bound on regret. We provide a computationally efficient version of this
algorithm. We also analyze the noise-free case, in which the revealed labels
are isotonic, and show that the bound can be improved to or even to
(when the labels are revealed in isotonic order). Finally, we extend the
analysis beyond squared loss and give bounds for entropic loss and absolute
loss.Comment: 25 page
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
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