105 research outputs found
Submodularity in Batch Active Learning and Survey Problems on Gaussian Random Fields
Many real-world datasets can be represented in the form of a graph whose edge
weights designate similarities between instances. A discrete Gaussian random
field (GRF) model is a finite-dimensional Gaussian process (GP) whose prior
covariance is the inverse of a graph Laplacian. Minimizing the trace of the
predictive covariance Sigma (V-optimality) on GRFs has proven successful in
batch active learning classification problems with budget constraints. However,
its worst-case bound has been missing. We show that the V-optimality on GRFs as
a function of the batch query set is submodular and hence its greedy selection
algorithm guarantees an (1-1/e) approximation ratio. Moreover, GRF models have
the absence-of-suppressor (AofS) condition. For active survey problems, we
propose a similar survey criterion which minimizes 1'(Sigma)1. In practice,
V-optimality criterion performs better than GPs with mutual information gain
criteria and allows nonuniform costs for different nodes
Near-Optimal Sensor Scheduling for Batch State Estimation: Complexity, Algorithms, and Limits
In this paper, we focus on batch state estimation for linear systems. This
problem is important in applications such as environmental field estimation,
robotic navigation, and target tracking. Its difficulty lies on that limited
operational resources among the sensors, e.g., shared communication bandwidth
or battery power, constrain the number of sensors that can be active at each
measurement step. As a result, sensor scheduling algorithms must be employed.
Notwithstanding, current sensor scheduling algorithms for batch state
estimation scale poorly with the system size and the time horizon. In addition,
current sensor scheduling algorithms for Kalman filtering, although they scale
better, provide no performance guarantees or approximation bounds for the
minimization of the batch state estimation error. In this paper, one of our
main contributions is to provide an algorithm that enjoys both the estimation
accuracy of the batch state scheduling algorithms and the low time complexity
of the Kalman filtering scheduling algorithms. In particular: 1) our algorithm
is near-optimal: it achieves a solution up to a multiplicative factor 1/2 from
the optimal solution, and this factor is close to the best approximation factor
1/e one can achieve in polynomial time for this problem; 2) our algorithm has
(polynomial) time complexity that is not only lower than that of the current
algorithms for batch state estimation; it is also lower than, or similar to,
that of the current algorithms for Kalman filtering. We achieve these results
by proving two properties for our batch state estimation error metric, which
quantifies the square error of the minimum variance linear estimator of the
batch state vector: a) it is supermodular in the choice of the sensors; b) it
has a sparsity pattern (it involves matrices that are block tri-diagonal) that
facilitates its evaluation at each sensor set.Comment: Correction of typos in proof
Deep Active Learning for Named Entity Recognition
Deep learning has yielded state-of-the-art performance on many natural
language processing tasks including named entity recognition (NER). However,
this typically requires large amounts of labeled data. In this work, we
demonstrate that the amount of labeled training data can be drastically reduced
when deep learning is combined with active learning. While active learning is
sample-efficient, it can be computationally expensive since it requires
iterative retraining. To speed this up, we introduce a lightweight architecture
for NER, viz., the CNN-CNN-LSTM model consisting of convolutional character and
word encoders and a long short term memory (LSTM) tag decoder. The model
achieves nearly state-of-the-art performance on standard datasets for the task
while being computationally much more efficient than best performing models. We
carry out incremental active learning, during the training process, and are
able to nearly match state-of-the-art performance with just 25\% of the
original training data
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age
Simultaneous Localization and Mapping (SLAM)consists in the concurrent
construction of a model of the environment (the map), and the estimation of the
state of the robot moving within it. The SLAM community has made astonishing
progress over the last 30 years, enabling large-scale real-world applications,
and witnessing a steady transition of this technology to industry. We survey
the current state of SLAM. We start by presenting what is now the de-facto
standard formulation for SLAM. We then review related work, covering a broad
set of topics including robustness and scalability in long-term mapping, metric
and semantic representations for mapping, theoretical performance guarantees,
active SLAM and exploration, and other new frontiers. This paper simultaneously
serves as a position paper and tutorial to those who are users of SLAM. By
looking at the published research with a critical eye, we delineate open
challenges and new research issues, that still deserve careful scientific
investigation. The paper also contains the authors' take on two questions that
often animate discussions during robotics conferences: Do robots need SLAM? and
Is SLAM solved
Decision-making with gaussian processes: sampling strategies and monte carlo methods
We study Gaussian processes and their application to decision-making in the real world. We begin by reviewing the foundations of Bayesian decision theory and show how these ideas give rise to methods such as Bayesian optimization. We investigate practical techniques for carrying out these strategies, with an emphasis on estimating and maximizing acquisition functions. Finally, we introduce pathwise approaches to conditioning Gaussian processes and demonstrate key benefits for representing random variables in this manner.Open Acces
NEAR-OPTIMALITY AND ROBUSTNESS OF GREEDY ALGORITHMS FOR BAYESIAN POOL-BASED ACTIVE LEARNING
Ph.DDOCTOR OF PHILOSOPH
A submodular optimization framework for never-ending learning : semi-supervised, online, and active learning.
The revolution in information technology and the explosion in the use of computing devices in people\u27s everyday activities has forever changed the perspective of the data mining and machine learning fields. The enormous amounts of easily accessible, information rich data is pushing the data analysis community in general towards a shift of paradigm. In the new paradigm, data comes in the form a stream of billions of records received everyday. The dynamic nature of the data and its sheer size makes it impossible to use the traditional notion of offline learning where the whole data is accessible at any time point. Moreover, no amount of human resources is enough to get expert feedback on the data. In this work we have developed a unified optimization based learning framework that approaches many of the challenges mentioned earlier. Specifically, we developed a Never-Ending Learning framework which combines incremental/online, semi-supervised, and active learning under a unified optimization framework. The established framework is based on the class of submodular optimization methods. At the core of this work we provide a novel formulation of the Semi-Supervised Support Vector Machines (S3VM) in terms of submodular set functions. The new formulation overcomes the non-convexity issues of the S3VM and provides a state of the art solution that is orders of magnitude faster than the cutting edge algorithms in the literature. Next, we provide a stream summarization technique via exemplar selection. This technique makes it possible to keep a fixed size exemplar representation of a data stream that can be used by any label propagation based semi-supervised learning technique. The compact data steam representation allows a wide range of algorithms to be extended to incremental/online learning scenario. Under the same optimization framework, we provide an active learning algorithm that constitute the feedback between the learning machine and an oracle. Finally, the developed Never-Ending Learning framework is essentially transductive in nature. Therefore, our last contribution is an inductive incremental learning technique for incremental training of SVM using the properties of local kernels. We demonstrated through this work the importance and wide applicability of the proposed methodologies
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