Error Bounds for Piecewise Smooth and Switching Regression

The paper deals with regression problems, in which the nonsmooth target is assumed to switch between different operating modes. Specifically, piecewise smooth (PWS) regression considers target functions switching deterministically via a partition of the input space, while switching regression considers arbitrary switching laws. The paper derives generalization error bounds in these two settings by following the approach based on Rademacher complexities. For PWS regression, our derivation involves a chaining argument and a decomposition of the covering numbers of PWS classes in terms of the ones of their component functions and the capacity of the classifier partitioning the input space. This yields error bounds with a radical dependency on the number of modes. For switching regression, the decomposition can be performed directly at the level of the Rademacher complexities, which yields bounds with a linear dependency on the number of modes. By using once more chaining and a decomposition at the level of covering numbers, we show how to recover a radical dependency. Examples of applications are given in particular for PWS and swichting regression with linear and kernel-based component functions.Comment: This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice,after which this version may no longer be accessibl

Recovering from External Disturbances in Online Manipulation through State-Dependent Revertive Recovery Policies

Robots are increasingly entering uncertain and unstructured environments. Within these, robots are bound to face unexpected external disturbances like accidental human or tool collisions. Robots must develop the capacity to respond to unexpected events. That is not only identifying the sudden anomaly, but also deciding how to handle it. In this work, we contribute a recovery policy that allows a robot to recovery from various anomalous scenarios across different tasks and conditions in a consistent and robust fashion. The system organizes tasks as a sequence of nodes composed of internal modules such as motion generation and introspection. When an introspection module flags an anomaly, the recovery strategy is triggered and reverts the task execution by selecting a target node as a function of a state dependency chart. The new skill allows the robot to overcome the effects of the external disturbance and conclude the task. Our system recovers from accidental human and tool collisions in a number of tasks. Of particular importance is the fact that we test the robustness of the recovery system by triggering anomalies at each node in the task graph showing robust recovery everywhere in the task. We also trigger multiple and repeated anomalies at each of the nodes of the task showing that the recovery system can consistently recover anywhere in the presence of strong and pervasive anomalous conditions. Robust recovery systems will be key enablers for long-term autonomy in robot systems. Supplemental info including code, data, graphs, and result analysis can be found at [1].Comment: 8 pages, 8 figures, 1 tabl

Identifying high-impact sub-structures for convolution kernels in document-level sentiment classification

Convolution kernels support the modeling of complex syntactic information in machine-learning tasks. However, such models are highly sensitive to the type and size of syntactic structure used. It is therefore an important challenge to automatically identify high impact sub-structures relevant to a given task. In this paper we present a systematic study investigating (combinations of) sequence and convolution kernels using different types of substructures in document-level sentiment classification. We show that minimal sub-structures extracted from constituency and dependency trees guided by a polarity lexicon show 1.45 point absolute improvement in accuracy over a bag-of-words classifier on a widely used sentiment corpus

Detecting and Refactoring Operational Smells within the Domain Name System

The Domain Name System (DNS) is one of the most important components of the Internet infrastructure. DNS relies on a delegation-based architecture, where resolution of names to their IP addresses requires resolving the names of the servers responsible for those names. The recursive structures of the inter dependencies that exist between name servers associated with each zone are called dependency graphs. System administrators' operational decisions have far reaching effects on the DNSs qualities. They need to be soundly made to create a balance between the availability, security and resilience of the system. We utilize dependency graphs to identify, detect and catalogue operational bad smells. Our method deals with smells on a high-level of abstraction using a consistent taxonomy and reusable vocabulary, defined by a DNS Operational Model. The method will be used to build a diagnostic advisory tool that will detect configuration changes that might decrease the robustness or security posture of domain names before they become into production.Comment: In Proceedings GaM 2015, arXiv:1504.0244

Pattern Reification as the Basis for Description-Driven Systems

One of the main factors driving object-oriented software development for information systems is the requirement for systems to be tolerant to change. To address this issue in designing systems, this paper proposes a pattern-based, object-oriented, description-driven system (DDS) architecture as an extension to the standard UML four-layer meta-model. A DDS architecture is proposed in which aspects of both static and dynamic systems behavior can be captured via descriptive models and meta-models. The proposed architecture embodies four main elements - firstly, the adoption of a multi-layered meta-modeling architecture and reflective meta-level architecture, secondly the identification of four data modeling relationships that can be made explicit such that they can be modified dynamically, thirdly the identification of five design patterns which have emerged from practice and have proved essential in providing reusable building blocks for data management, and fourthly the encoding of the structural properties of the five design patterns by means of one fundamental pattern, the Graph pattern. A practical example of this philosophy, the CRISTAL project, is used to demonstrate the use of description-driven data objects to handle system evolution.Comment: 20 pages, 10 figure