Preferences in Case-Based Reasoning

Case-based reasoning (CBR) is a well-established problem solving paradigm that has been used in a wide range of real-world applications. Despite its great practical success, work on the theoretical foundations of CBR is still under way, and a coherent and universally applicable methodological framework is yet missing. The absence of such a framework inspired the motivation for the work developed in this thesis. Drawing on recent research on preference handling in Artificial Intelligence and related fields, the goal of this work is to develop a well theoretically-founded framework on the basis of formal concepts and methods for knowledge representation and reasoning with preferences

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

Coherence retrieval using trace regularization

The mutual intensity and its equivalent phase-space representations quantify an optical field's state of coherence and are important tools in the study of light propagation and dynamics, but they can only be estimated indirectly from measurements through a process called coherence retrieval, otherwise known as phase-space tomography. As practical considerations often rule out the availability of a complete set of measurements, coherence retrieval is usually a challenging high-dimensional ill-posed inverse problem. In this paper, we propose a trace-regularized optimization model for coherence retrieval and a provably-convergent adaptive accelerated proximal gradient algorithm for solving the resulting problem. Applying our model and algorithm to both simulated and experimental data, we demonstrate an improvement in reconstruction quality over previous models as well as an increase in convergence speed compared to existing first-order methods.Comment: 28 pages, 10 figures, accepted for publication in SIAM Journal on Imaging Science

Automaton Meet Algebra: A Hybrid Paradigm for Efficiently Processing XQuery over XML Stream

XML stream applications bring the challenge of efficiently processing queries on sequentially accessible token-based data streams. The automaton paradigm is naturally suited for pattern retrieval on tokenized XML streams, but requires patches for implementing the filtering or restructuring functionalities common for the XML query languages. In contrast, the algebraic paradigm is well-established for processing self-contained tuples. However, it does not traditionally support token inputs. This dissertation proposes a framework called Raindrop, which accommodates both the automaton and algebra paradigms to take advantage of both. First, we propose an architecture for Raindrop. Raindrop is an algebra framework that models queries at different abstraction levels. We represent the token-based automaton computations as an algebraic subplan at the high level while exposing the automaton details at the low level. The algebraic subplan modeling automaton computations can thus be integrated with the algebraic subplan modeling the non-automaton computations. Second, we explore a novel optimization opportunity. Other XML stream processing systems always retrieve all the patterns in a query in the automaton. In contrast, Raindrop allows a plan to retrieve some of the pattern retrieval in the automaton and some out of the automaton. This opens up an automaton-in-or-out optimization opportunity. We study this optimization in two types of run-time environments, one with stable data characteristics and one with fluctuating data characteristics. We provide search strategies catering to each environment. We also describe how to migrate from a currently running plan to a new plan at run-time. Third, we optimize the automaton computations using the schema knowledge. A set of criteria are established to decide what schema constraints are useful to a given query. Optimization rules utilizing different types of schema constraints are proposed based on the criteria. We design a rule application algorithm which ensures both completeness (i.e., no optimization is missed) and minimality (i.e., no redundant optimization is introduced). The experimentations on both real and synthetic data illustrate that these techniques bring significant performance improvement with little overhead

Generating recommendations for entity-oriented exploratory search

We introduce the task of recommendation set generation for entity-oriented exploratory search. Given an input search query which is open-ended or under-specified, the task is to present the user with an easily-understandable collection of query recommendations, with the goal of facilitating domain exploration or clarifying user intent. Traditional query recommendation systems select recommendations by identifying salient keywords in retrieved documents, or by querying an existing taxonomy or knowledge base for related concepts. In this work, we build a text-to-text model capable of generating a collection of recommendations directly, using the language model as a "soft" knowledge base capable of proposing new concepts not found in an existing taxonomy or set of retrieved documents. We train the model to generate recommendation sets which optimize a cost function designed to encourage comprehensiveness, interestingness, and non-redundancy. In thorough evaluations performed by crowd workers, we confirm the generalizability of our approach and the high quality of the generated recommendations

Integrating OLAP and Ranking: The Ranking-Cube Methodology

Recent years have witnessed an enormous growth of data in business, industry, and Web applications. Database search often returns a large collection of results, which poses challenges to both efficient query processing and effective digest of the query results. To address this problem, ranked search has been introduced to database systems. We study the problem of On-Line Analytical Processing (OLAP) of ranked queries, where ranked queries are conducted in the arbitrary subset of data defined by multi-dimensional selections. While pre-computation and multi-dimensional aggregation is the standard solution for OLAP, materializing dynamic ranking results is unrealistic because the ranking criteria are not known until the query time. To overcome such difficulty, we develop a new ranking cube method that performs semi on-line materialization and semi online computation in this thesis. Its complete life cycle, including cube construction, incremental maintenance, and query processing, is also discussed. We further extend the ranking cube in three dimensions. First, how to answer queries in high-dimensional data. Second, how to answer queries which involves joins over multiple relations. Third, how to answer general preference queries (besides ranked queries, such as skyline queries). Our performance studies show that ranking-cube is orders of magnitude faster than previous approaches