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508 results (View BibTeX file of all listed publications)

2010

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Bayesian Online Multitask Learning of Gaussian Processes

Pillonetto, G., Dinuzzo, F., De Nicolao, G.

IEEE Transactions on Pattern Analysis and Machine Intelligence, 32(2):193-205, February 2010 (article)

Abstract
Standard single-task kernel methods have recently been extended to the case of multitask learning in the context of regularization theory. There are experimental results, especially in biomedicine, showing the benefit of the multitask approach compared to the single-task one. However, a possible drawback is computational complexity. For instance, when regularization networks are used, complexity scales as the cube of the overall number of training data, which may be large when several tasks are involved. The aim of this paper is to derive an efficient computational scheme for an important class of multitask kernels. More precisely, a quadratic loss is assumed and each task consists of the sum of a common term and a task-specific one. Within a Bayesian setting, a recursive online algorithm is obtained, which updates both estimates and confidence intervals as new data become available. The algorithm is tested on two simulated problems and a real data set relative to xenobiotics administration in human patients.

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DOI [BibTex]

2010

ei Pillonetto, G., Dinuzzo, F., De Nicolao, G. Bayesian Online Multitask Learning of Gaussian Processes IEEE Transactions on Pattern Analysis and Machine Intelligence, 32(2):193-205, February 2010 (article)

DOI [BibTex]

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JMLR Workshop and Conference Proceedings: Volume 6

Guyon, I., Janzing, D., Schölkopf, B.

pages: 288, MIT Press, Cambridge, MA, USA, Causality: Objectives and Assessment (NIPS Workshop) , February 2010 (proceedings)

ei

Web [BibTex]

ei Guyon, I., Janzing, D., Schölkopf, B. JMLR Workshop and Conference Proceedings: Volume 6 pages: 288, MIT Press, Cambridge, MA, USA, Causality: Objectives and Assessment (NIPS Workshop) , February 2010 (proceedings)

Web [BibTex]

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Learning Motor Primitives for Robotics

Kober, J., Peters, J.

EVENT Lab: Reinforcement Learning in Robotics and Virtual Reality, January 2010 (talk)

Abstract
The acquisition and self-improvement of novel motor skills is among the most important problems in robotics. Motor primitives offer one of the most promising frameworks for the application of machine learning techniques in this context. Employing the Dynamic Systems Motor primitives originally introduced by Ijspeert et al. (2003), appropriate learning algorithms for a concerted approach of both imitation and reinforcement learning are presented. Using these algorithms new motor skills, i.e., Ball-in-a-Cup, Ball-Paddling and Dart-Throwing, are learned.

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[BibTex]

ei Kober, J., Peters, J. Learning Motor Primitives for Robotics EVENT Lab: Reinforcement Learning in Robotics and Virtual Reality, January 2010 (talk)

[BibTex]

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The semigroup approach to transport processes in networks

Dorn, B., Fijavz, M., Nagel, R., Radl, A.

Physica D: Nonlinear Phenomena, 239(15):1416-1421, January 2010 (article)

Abstract
We explain how operator semigroups can be used to study transport processes in networks. This method is applied to a linear Boltzmann equation on a finite as well as on an infinite network and yields well-posedness and information on the long term behavior of the solutions to the presented problems.

ei

Web DOI [BibTex]

ei Dorn, B., Fijavz, M., Nagel, R., Radl, A. The semigroup approach to transport processes in networks Physica D: Nonlinear Phenomena, 239(15):1416-1421, January 2010 (article)

Web DOI [BibTex]

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Learning Continuous Grasp Affordances by Sensorimotor Exploration

Detry, R., Baseski, E., Popovic, M., Touati, Y., Krüger, N., Kroemer, O., Peters, J., Piater, J.

In From Motor Learning to Interaction Learning in Robots, pages: 451-465, Studies in Computational Intelligence ; 264, (Editors: Sigaud, O. and Peters, J.), Springer, Berlin, Germany, January 2010 (inbook)

Abstract
We develop means of learning and representing object grasp affordances probabilistically. By grasp affordance, we refer to an entity that is able to assess whether a given relative object-gripper configuration will yield a stable grasp. These affordances are represented with grasp densities, continuous probability density functions defined on the space of 3D positions and orientations. Grasp densities are registered with a visual model of the object they characterize. They are exploited by aligning them to a target object using visual pose estimation. Grasp densities are refined through experience: A robot “plays” with an object by executing grasps drawn randomly for the object’s grasp density. The robot then uses the outcomes of these grasps to build a richer density through an importance sampling mechanism. Initial grasp densities, called hypothesis densities, are bootstrapped from grasps collected using a motion capture system, or from grasps generated from the visual model of the object. Refined densities, called empirical densities, represent affordances that have been confirmed through physical experience. The applicability of our method is demonstrated by producing empirical densities for two object with a real robot and its 3-finger hand. Hypothesis densities are created from visual cues and human demonstration.

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PDF Web DOI [BibTex]

ei Detry, R., Baseski, E., Popovic, M., Touati, Y., Krüger, N., Kroemer, O., Peters, J., Piater, J. Learning Continuous Grasp Affordances by Sensorimotor Exploration In From Motor Learning to Interaction Learning in Robots, pages: 451-465, Studies in Computational Intelligence ; 264, (Editors: Sigaud, O. and Peters, J.), Springer, Berlin, Germany, January 2010 (inbook)

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Optimization of k-Space Trajectories for Compressed Sensing by Bayesian Experimental Design

Seeger, M., Nickisch, H., Pohmann, R., Schölkopf, B.

Magnetic Resonance in Medicine, 63(1):116-126, January 2010 (article)

Abstract
The optimization of k-space sampling for nonlinear sparse MRI reconstruction is phrased as a Bayesian experimental design problem. Bayesian inference is approximated by a novel relaxation to standard signal processing primitives, resulting in an efficient optimization algorithm for Cartesian and spiral trajectories. On clinical resolution brain image data from a Siemens 3T scanner, automatically optimized trajectories lead to significantly improved images, compared to standard low-pass, equispaced, or variable density randomized designs. Insights into the nonlinear design optimization problem for MRI are given.

ei

Web DOI [BibTex]

ei Seeger, M., Nickisch, H., Pohmann, R., Schölkopf, B. Optimization of k-Space Trajectories for Compressed Sensing by Bayesian Experimental Design Magnetic Resonance in Medicine, 63(1):116-126, January 2010 (article)

Web DOI [BibTex]

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Imitation and Reinforcement Learning for Motor Primitives with Perceptual Coupling

Kober, J., Mohler, B., Peters, J.

In From Motor Learning to Interaction Learning in Robots, pages: 209-225, Studies in Computational Intelligence ; 264, (Editors: Sigaud, O. and Peters, J.), Springer, Berlin, Germany, January 2010 (inbook)

Abstract
Traditional motor primitive approaches deal largely with open-loop policies which can only deal with small perturbations. In this paper, we present a new type of motor primitive policies which serve as closed-loop policies together with an appropriate learning algorithm. Our new motor primitives are an augmented version version of the dynamical system-based motor primitives [Ijspeert et al(2002)Ijspeert, Nakanishi, and Schaal] that incorporates perceptual coupling to external variables. We show that these motor primitives can perform complex tasks such as Ball-in-a-Cup or Kendama task even with large variances in the initial conditions where a skilled human player would be challenged. We initialize the open-loop policies by imitation learning and the perceptual coupling with a handcrafted solution. We first improve the open-loop policies and subsequently the perceptual coupling using a novel reinforcement learning method which is particularly well-suited for dynamical system-based motor primitives.

ei

PDF Web DOI [BibTex]

ei Kober, J., Mohler, B., Peters, J. Imitation and Reinforcement Learning for Motor Primitives with Perceptual Coupling In From Motor Learning to Interaction Learning in Robots, pages: 209-225, Studies in Computational Intelligence ; 264, (Editors: Sigaud, O. and Peters, J.), Springer, Berlin, Germany, January 2010 (inbook)

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From Motor Learning to Interaction Learning in Robots

Sigaud, O., Peters, J.

In From Motor Learning to Interaction Learning in Robots, pages: 1-12, Studies in Computational Intelligence ; 264, (Editors: Sigaud, O. and Peters, J.), Springer, Berlin, Germany, January 2010 (inbook)

Abstract
The number of advanced robot systems has been increasing in recent years yielding a large variety of versatile designs with many degrees of freedom. These robots have the potential of being applicable in uncertain tasks outside wellstructured industrial settings. However, the complexity of both systems and tasks is often beyond the reach of classical robot programming methods. As a result, a more autonomous solution for robot task acquisition is needed where robots adaptively adjust their behaviour to the encountered situations and required tasks. Learning approaches pose one of the most appealing ways to achieve this goal. However, while learning approaches are of high importance for robotics, we cannot simply use off-the-shelf methods from the machine learning community as these usually do not scale into the domains of robotics due to excessive computational cost as well as a lack of scalability. Instead, domain appropriate approaches are needed. In this book, we focus on several core domains of robot learning. For accurate task execution, we need motor learning capabilities. For fast learning of the motor tasks, imitation learning offers the most promising approach. Self improvement requires reinforcement learning approaches that scale into the domain of complex robots. Finally, for efficient interaction of humans with robot systems, we will need a form of interaction learning. This chapter provides a general introduction to these issues and briefly presents the contributions of the subsequent chapters to the corresponding research topics.

ei

Web DOI [BibTex]

ei Sigaud, O., Peters, J. From Motor Learning to Interaction Learning in Robots In From Motor Learning to Interaction Learning in Robots, pages: 1-12, Studies in Computational Intelligence ; 264, (Editors: Sigaud, O. and Peters, J.), Springer, Berlin, Germany, January 2010 (inbook)

Web DOI [BibTex]

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From Motor Learning to Interaction Learning in Robots

Sigaud, O., Peters, J.

pages: 538, Studies in Computational Intelligence ; 264, (Editors: O Sigaud, J Peters), Springer, Berlin, Germany, January 2010 (book)

Abstract
From an engineering standpoint, the increasing complexity of robotic systems and the increasing demand for more autonomously learning robots, has become essential. This book is largely based on the successful workshop "From motor to interaction learning in robots" held at the IEEE/RSJ International Conference on Intelligent Robot Systems. The major aim of the book is to give students interested the topics described above a chance to get started faster and researchers a helpful compandium.

ei

Web DOI [BibTex]

ei Sigaud, O., Peters, J. From Motor Learning to Interaction Learning in Robots pages: 538, Studies in Computational Intelligence ; 264, (Editors: O Sigaud, J Peters), Springer, Berlin, Germany, January 2010 (book)

Web DOI [BibTex]

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Real-Time Local GP Model Learning

Nguyen-Tuong, D., Seeger, M., Peters, J.

In From Motor Learning to Interaction Learning in Robots, 264, pages: 193-207, Studies in Computational Intelligence, (Editors: Sigaud, O. and Peters, J.), Springer, Berlin, Germany, January 2010 (inbook)

Abstract
For many applications in robotics, accurate dynamics models are essential. However, in some applications, e.g., in model-based tracking control, precise dynamics models cannot be obtained analytically for sufficiently complex robot systems. In such cases, machine learning offers a promising alternative for approximating the robot dynamics using measured data. However, standard regression methods such as Gaussian process regression (GPR) suffer from high computational complexity which prevents their usage for large numbers of samples or online learning to date. In this paper, we propose an approximation to the standard GPR using local Gaussian processes models inspired by [Vijayakumar et al(2005)Vijayakumar, D’Souza, and Schaal, Snelson and Ghahramani(2007)]. Due to reduced computational cost, local Gaussian processes (LGP) can be applied for larger sample-sizes and online learning. Comparisons with other nonparametric regressions, e.g., standard GPR, support vector regression (SVR) and locally weighted proje ction regression (LWPR), show that LGP has high approximation accuracy while being sufficiently fast for real-time online learning.

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PDF Web DOI [BibTex]

ei Nguyen-Tuong, D., Seeger, M., Peters, J. Real-Time Local GP Model Learning In From Motor Learning to Interaction Learning in Robots, 264, pages: 193-207, Studies in Computational Intelligence, (Editors: Sigaud, O. and Peters, J.), Springer, Berlin, Germany, January 2010 (inbook)

PDF Web DOI [BibTex]

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Finding Gene-Gene Interactions using Support Vector Machines

Rakitsch, B.

Eberhard Karls Universität Tübingen, Germany, 2010 (diplomathesis)

ei

[BibTex]

ei Rakitsch, B. Finding Gene-Gene Interactions using Support Vector Machines Eberhard Karls Universität Tübingen, Germany, 2010 (diplomathesis)

[BibTex]

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Accurate Prediction of Protein-Coding Genes with Discriminative Learning Techniques

Schweikert, G.

Technische Universität Berlin, Germany, 2010 (phdthesis)

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[BibTex]

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Leveraging Sequence Classification by Taxonomy-based Multitask Learning

Widmer, C., Leiva, J., Altun, Y., Rätsch, G.

In Research in Computational Molecular Biology, LNCS, Vol. 6044, pages: 522-534, (Editors: B Berger), Springer, Berlin, Germany, 14th Annual International Conference, RECOMB, 2010 (inproceedings)

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DOI [BibTex]

ei Widmer, C., Leiva, J., Altun, Y., Rätsch, G. Leveraging Sequence Classification by Taxonomy-based Multitask Learning In Research in Computational Molecular Biology, LNCS, Vol. 6044, pages: 522-534, (Editors: B Berger), Springer, Berlin, Germany, 14th Annual International Conference, RECOMB, 2010 (inproceedings)

DOI [BibTex]

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Machine Learning Methods for Automatic Image Colorization

Charpiat, G., Bezrukov, I., Hofmann, M., Altun, Y., Schölkopf, B.

In Computational Photography: Methods and Applications, pages: 395-418, Digital Imaging and Computer Vision, (Editors: Lukac, R.), CRC Press, Boca Raton, FL, USA, 2010 (inbook)

Abstract
We aim to color greyscale images automatically, without any manual intervention. The color proposition could then be interactively corrected by user-provided color landmarks if necessary. Automatic colorization is nontrivial since there is usually no one-to-one correspondence between color and local texture. The contribution of our framework is that we deal directly with multimodality and estimate, for each pixel of the image to be colored, the probability distribution of all possible colors, instead of choosing the most probable color at the local level. We also predict the expected variation of color at each pixel, thus defining a non-uniform spatial coherency criterion. We then use graph cuts to maximize the probability of the whole colored image at the global level. We work in the L-a-b color space in order to approximate the human perception of distances between colors, and we use machine learning tools to extract as much information as possible from a dataset of colored examples. The resulting algorithm is fast, designed to be more robust to texture noise, and is above all able to deal with ambiguity, in contrary to previous approaches.

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PDF Web [BibTex]

ei Charpiat, G., Bezrukov, I., Hofmann, M., Altun, Y., Schölkopf, B. Machine Learning Methods for Automatic Image Colorization In Computational Photography: Methods and Applications, pages: 395-418, Digital Imaging and Computer Vision, (Editors: Lukac, R.), CRC Press, Boca Raton, FL, USA, 2010 (inbook)

PDF Web [BibTex]

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Probabilistic latent variable models for distinguishing between cause and effect

Mooij, J., Stegle, O., Janzing, D., Zhang, K., Schölkopf, B.

In Advances in Neural Information Processing Systems 23, pages: 1687-1695, (Editors: J Lafferty and CKI Williams and J Shawe-Taylor and RS Zemel and A Culotta), Curran, Red Hook, NY, USA, 24th Annual Conference on Neural Information Processing Systems (NIPS), 2010 (inproceedings)

Abstract
We propose a novel method for inferring whether X causes Y or vice versa from joint observations of X and Y. The basic idea is to model the observed data using probabilistic latent variable models, which incorporate the effects of unobserved noise. To this end, we consider the hypothetical effect variable to be a function of the hypothetical cause variable and an independent noise term (not necessarily additive). An important novel aspect of our work is that we do not restrict the model class, but instead put general non-parametric priors on this function and on the distribution of the cause. The causal direction can then be inferred by using standard Bayesian model selection. We evaluate our approach on synthetic data and real-world data and report encouraging results.

ei

PDF Web [BibTex]

ei Mooij, J., Stegle, O., Janzing, D., Zhang, K., Schölkopf, B. Probabilistic latent variable models for distinguishing between cause and effect In Advances in Neural Information Processing Systems 23, pages: 1687-1695, (Editors: J Lafferty and CKI Williams and J Shawe-Taylor and RS Zemel and A Culotta), Curran, Red Hook, NY, USA, 24th Annual Conference on Neural Information Processing Systems (NIPS), 2010 (inproceedings)

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Structural and Relational Data Mining for Systems Biology Applications

Georgii, E.

Eberhard Karls Universität Tübingen, Germany , 2010 (phdthesis)

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Web [BibTex]

ei Georgii, E. Structural and Relational Data Mining for Systems Biology Applications Eberhard Karls Universität Tübingen, Germany , 2010 (phdthesis)

Web [BibTex]

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JigPheno: Semantic Feature Extraction in biological images

Karaletsos, T., Stegle, O., Winn, J., Borgwardt, K.

In NIPS, Workshop on Machine Learning in Computational Biology, 2010 (inproceedings)

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[BibTex]

ei Karaletsos, T., Stegle, O., Winn, J., Borgwardt, K. JigPheno: Semantic Feature Extraction in biological images In NIPS, Workshop on Machine Learning in Computational Biology, 2010 (inproceedings)

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Nonparametric Tree Graphical Models

Song, L., Gretton, A., Guestrin, C.

In Proceedings of the 13th International Conference on Artificial Intelligence and Statistics, Volume 9 , pages: 765-772, (Editors: YW Teh and M Titterington ), JMLR, AISTATS, 2010 (inproceedings)

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PDF [BibTex]

ei Song, L., Gretton, A., Guestrin, C. Nonparametric Tree Graphical Models In Proceedings of the 13th International Conference on Artificial Intelligence and Statistics, Volume 9 , pages: 765-772, (Editors: YW Teh and M Titterington ), JMLR, AISTATS, 2010 (inproceedings)

PDF [BibTex]

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Novel machine learning methods for MHC Class I binding prediction

Widmer, C., Toussaint, N., Altun, Y., Kohlbacher, O., Rätsch, G.

In Pattern Recognition in Bioinformatics, pages: 98-109, (Editors: TMH Dijkstra and E Tsivtsivadze and E Marchiori and T Heskes), Springer, Berlin, Germany, 5th IAPR International Conference, PRIB, 2010 (inproceedings)

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DOI [BibTex]

ei Widmer, C., Toussaint, N., Altun, Y., Kohlbacher, O., Rätsch, G. Novel machine learning methods for MHC Class I binding prediction In Pattern Recognition in Bioinformatics, pages: 98-109, (Editors: TMH Dijkstra and E Tsivtsivadze and E Marchiori and T Heskes), Springer, Berlin, Germany, 5th IAPR International Conference, PRIB, 2010 (inproceedings)

DOI [BibTex]

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Bootstrapping Apprenticeship Learning

Boularias, A., Chaib-Draa, B.

In Advances in Neural Information Processing Systems 23, pages: 289-297, (Editors: Lafferty, J. , C. K.I. Williams, J. Shawe-Taylor, R. S. Zemel, A. Culotta), Curran, Red Hook, NY, USA, Twenty-Fourth Annual Conference on Neural Information Processing Systems (NIPS), 2010 (inproceedings)

Abstract
We consider the problem of apprenticeship learning where the examples, demonstrated by an expert, cover only a small part of a large state space. Inverse Reinforcement Learning (IRL) provides an efficient tool for generalizing the demonstration, based on the assumption that the expert is maximizing a utility function that is a linear combination of state-action features. Most IRL algorithms use a simple Monte Carlo estimation to approximate the expected feature counts under the expert's policy. In this paper, we show that the quality of the learned policies is highly sensitive to the error in estimating the feature counts. To reduce this error, we introduce a novel approach for bootstrapping the demonstration by assuming that: (i), the expert is (near-)optimal, and (ii), the dynamics of the system is known. Empirical results on gridworlds and car racing problems show that our approach is able to learn good policies from a small number of demonstrations.

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PDF Web [BibTex]

ei Boularias, A., Chaib-Draa, B. Bootstrapping Apprenticeship Learning In Advances in Neural Information Processing Systems 23, pages: 289-297, (Editors: Lafferty, J. , C. K.I. Williams, J. Shawe-Taylor, R. S. Zemel, A. Culotta), Curran, Red Hook, NY, USA, Twenty-Fourth Annual Conference on Neural Information Processing Systems (NIPS), 2010 (inproceedings)

PDF Web [BibTex]

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Distinguishing Causes from Effects using Nonlinear Acyclic Causal Models

Zhang, K., Hyvärinen, A.

In JMLR Workshop and Conference Proceedings, Volume 6, pages: 157-164, (Editors: I Guyon and D Janzing and B Schölkopf), MIT Press, Cambridge, MA, USA, Causality: Objectives and Assessment (NIPS Workshop), 2010 (inproceedings)

ei

PDF Web [BibTex]

ei Zhang, K., Hyvärinen, A. Distinguishing Causes from Effects using Nonlinear Acyclic Causal Models In JMLR Workshop and Conference Proceedings, Volume 6, pages: 157-164, (Editors: I Guyon and D Janzing and B Schölkopf), MIT Press, Cambridge, MA, USA, Causality: Objectives and Assessment (NIPS Workshop), 2010 (inproceedings)

PDF Web [BibTex]

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Learning the Reward Model of Dialogue POMDPs

Boularias, A., Chinaei, H., Chaib-Draa, B.

NIPS Workshop on Machine Learning for Assistive Technology (MLAT-2010), 2010 (poster)

ei

[BibTex]

ei Boularias, A., Chinaei, H., Chaib-Draa, B. Learning the Reward Model of Dialogue POMDPs NIPS Workshop on Machine Learning for Assistive Technology (MLAT-2010), 2010 (poster)

[BibTex]

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Population Coding in the Visual System: Statistical Methods and Theory

Macke, J.

Eberhard Karls Universität Tübingen, Germany, 2010 (phdthesis)

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[BibTex]

ei Macke, J. Population Coding in the Visual System: Statistical Methods and Theory Eberhard Karls Universität Tübingen, Germany, 2010 (phdthesis)

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Bayesian Methods for Neural Data Analysis

Gerwinn, S.

Eberhard Karls Universität Tübingen, Germany, 2010 (phdthesis)

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Web [BibTex]

ei Gerwinn, S. Bayesian Methods for Neural Data Analysis Eberhard Karls Universität Tübingen, Germany, 2010 (phdthesis)

Web [BibTex]

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Consistent Nonparametric Tests of Independence

Gretton, A., Györfi, L.

Journal of Machine Learning Research, 11, pages: 1391-1423, 2010 (article)

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ei Gretton, A., Györfi, L. Consistent Nonparametric Tests of Independence Journal of Machine Learning Research, 11, pages: 1391-1423, 2010 (article)

PDF [BibTex]

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Characteristic Kernels on Structured Domains Excel in Robotics and Human Action Recognition

Danafar, S., Gretton, A., Schmidhuber, J.

In Machine Learning and Knowledge Discovery in Databases, LNCS Vol. 6321, pages: 264-279, (Editors: JL Balcázar and F Bonchi and A Gionis and M Sebag), Springer, Berlin, Germany, ECML PKDD, 2010 (inproceedings)

Abstract
Embedding probability distributions into a sufficiently rich (characteristic) reproducing kernel Hilbert space enables us to take higher order statistics into account. Characterization also retains effective statistical relation between inputs and outputs in regression and classification. Recent works established conditions for characteristic kernels on groups and semigroups. Here we study characteristic kernels on periodic domains, rotation matrices, and histograms. Such structured domains are relevant for homogeneity testing, forward kinematics, forward dynamics, inverse dynamics, etc. Our kernel-based methods with tailored characteristic kernels outperform previous methods on robotics problems and also on a widely used benchmark for recognition of human actions in videos.

ei

DOI [BibTex]

ei Danafar, S., Gretton, A., Schmidhuber, J. Characteristic Kernels on Structured Domains Excel in Robotics and Human Action Recognition In Machine Learning and Knowledge Discovery in Databases, LNCS Vol. 6321, pages: 264-279, (Editors: JL Balcázar and F Bonchi and A Gionis and M Sebag), Springer, Berlin, Germany, ECML PKDD, 2010 (inproceedings)

DOI [BibTex]

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Inferring latent task structure for Multitask Learning by Multiple Kernel Learning

Widmer, C., Toussaint, N., Altun, Y., Rätsch, G.

BMC Bioinformatics, 11 Suppl 8, pages: S5, 2010 (article)

Abstract
The lack of sufficient training data is the limiting factor for many Machine Learning applications in Computational Biology. If data is available for several different but related problem domains, Multitask Learning algorithms can be used to learn a model based on all available information. In Bioinformatics, many problems can be cast into the Multitask Learning scenario by incorporating data from several organisms. However, combining information from several tasks requires careful consideration of the degree of similarity between tasks. Our proposed method simultaneously learns or refines the similarity between tasks along with the Multitask Learning classifier. This is done by formulating the Multitask Learning problem as Multiple Kernel Learning, using the recently published q-Norm MKL algorithm.

ei

Web DOI [BibTex]

ei Widmer, C., Toussaint, N., Altun, Y., Rätsch, G. Inferring latent task structure for Multitask Learning by Multiple Kernel Learning BMC Bioinformatics, 11 Suppl 8, pages: S5, 2010 (article)

Web DOI [BibTex]

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Movement extraction by detecting dynamics switches and repetitions

Chiappa, S., Peters, J.

In Advances in Neural Information Processing Systems 23, pages: 388-396, (Editors: Lafferty, J. , C. K.I. Williams, J. Shawe-Taylor, R. S. Zemel, A. Culotta), Curran, Red Hook, NY, USA, Twenty-Fourth Annual Conference on Neural Information Processing Systems (NIPS), 2010 (inproceedings)

Abstract
Many time-series such as human movement data consist of a sequence of basic actions, e.g., forehands and backhands in tennis. Automatically extracting and characterizing such actions is an important problem for a variety of different applications. In this paper, we present a probabilistic segmentation approach in which an observed time-series is modeled as a concatenation of segments corresponding to different basic actions. Each segment is generated through a noisy transformation of one of a few hidden trajectories representing different types of movement, with possible time re-scaling. We analyze three different approximation methods for dealing with model intractability, and demonstrate how the proposed approach can successfully segment table tennis movements recorded using a robot arm as haptic input device.

ei

PDF Web [BibTex]

ei Chiappa, S., Peters, J. Movement extraction by detecting dynamics switches and repetitions In Advances in Neural Information Processing Systems 23, pages: 388-396, (Editors: Lafferty, J. , C. K.I. Williams, J. Shawe-Taylor, R. S. Zemel, A. Culotta), Curran, Red Hook, NY, USA, Twenty-Fourth Annual Conference on Neural Information Processing Systems (NIPS), 2010 (inproceedings)

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Approaches Based on Support Vector Machine to Classification of Remote Sensing Data

Bruzzone, L., Persello, C.

In Handbook of Pattern Recognition and Computer Vision, pages: 329-352, (Editors: Chen, C.H.), ICP, London, UK, 2010 (inbook)

Abstract
This chapter presents an extensive and critical review on the use of kernel methods and in particular of support vector machines (SVMs) in the classification of remote-sensing (RS) data. The chapter recalls the mathematical formulation and the main theoretical concepts related to SVMs, and discusses the motivations at the basis of the use of SVMs in remote sensing. A review on the main applications of SVMs in classification of remote sensing is given, presenting a literature survey on the use of SVMs for the analysis of different kinds of RS images. In addition, the most recent methodological developments related to SVM-based classification techniques in RS are illustrated by focusing on semisupervised, domain adaptation, and context sensitive approaches. Finally, the most promising research directions on SVM in RS are identified and discussed.

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Web [BibTex]

ei Bruzzone, L., Persello, C. Approaches Based on Support Vector Machine to Classification of Remote Sensing Data In Handbook of Pattern Recognition and Computer Vision, pages: 329-352, (Editors: Chen, C.H.), ICP, London, UK, 2010 (inbook)

Web [BibTex]

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Space-Variant Single-Image Blind Deconvolution for Removing Camera Shake

Harmeling, S., Hirsch, M., Schölkopf, B.

In Advances in Neural Information Processing Systems 23, pages: 829-837, (Editors: J Lafferty and CKI Williams and J Shawe-Taylor and RS Zemel and A Culotta), Curran, Red Hook, NY, USA, 24th Annual Conference on Neural Information Processing Systems (NIPS), 2010 (inproceedings)

Abstract
Modelling camera shake as a space-invariant convolution simplifies the problem of removing camera shake, but often insufficiently models actual motion blur such as those due to camera rotation and movements outside the sensor plane or when objects in the scene have different distances to the camera. In an effort to address these limitations, (i) we introduce a taxonomy of camera shakes, (ii) we build on a recently introduced framework for space-variant filtering by Hirsch et al. and a fast algorithm for single image blind deconvolution for space-invariant filters by Cho and Lee to construct a method for blind deconvolution in the case of space-variant blur, and (iii), we present an experimental setup for evaluation that allows us to take images with real camera shake while at the same time recording the spacevariant point spread function corresponding to that blur. Finally, we demonstrate that our method is able to deblur images degraded by spatially-varying blur originating from real camera shake, even without using additionally motion sensor information.

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PDF Web [BibTex]

ei Harmeling, S., Hirsch, M., Schölkopf, B. Space-Variant Single-Image Blind Deconvolution for Removing Camera Shake In Advances in Neural Information Processing Systems 23, pages: 829-837, (Editors: J Lafferty and CKI Williams and J Shawe-Taylor and RS Zemel and A Culotta), Curran, Red Hook, NY, USA, 24th Annual Conference on Neural Information Processing Systems (NIPS), 2010 (inproceedings)

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Getting lost in space: Large sample analysis of the resistance distance

von Luxburg, U., Radl, A., Hein, M.

In Advances in Neural Information Processing Systems 23, pages: 2622-2630, (Editors: Lafferty, J. , C. K.I. Williams, J. Shawe-Taylor, R. S. Zemel, A. Culotta), Curran, Red Hook, NY, USA, Twenty-Fourth Annual Conference on Neural Information Processing Systems (NIPS), 2010 (inproceedings)

Abstract
The commute distance between two vertices in a graph is the expected time it takes a random walk to travel from the first to the second vertex and back. We study the behavior of the commute distance as the size of the underlying graph increases. We prove that the commute distance converges to an expression that does not take into account the structure of the graph at all and that is completely meaningless as a distance function on the graph. Consequently, the use of the raw commute distance for machine learning purposes is strongly discouraged for large graphs and in high dimensions. As an alternative we introduce the amplified commute distance that corrects for the undesired large sample effects.

ei

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ei von Luxburg, U., Radl, A., Hein, M. Getting lost in space: Large sample analysis of the resistance distance In Advances in Neural Information Processing Systems 23, pages: 2622-2630, (Editors: Lafferty, J. , C. K.I. Williams, J. Shawe-Taylor, R. S. Zemel, A. Culotta), Curran, Red Hook, NY, USA, Twenty-Fourth Annual Conference on Neural Information Processing Systems (NIPS), 2010 (inproceedings)

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Distinguishing between cause and effect

Mooij, J., Janzing, D.

In JMLR Workshop and Conference Proceedings: Volume 6, pages: 147-156, (Editors: Guyon, I. , D. Janzing, B. Schölkopf), MIT Press, Cambridge, MA, USA, Causality: Objectives and Assessment (NIPS Workshop) , 2010 (inproceedings)

Abstract
We describe eight data sets that together formed the CauseEffectPairs task in the Causality Challenge #2: Pot-Luck competition. Each set consists of a sample of a pair of statistically dependent random variables. One variable is known to cause the other one, but this information was hidden from the participants; the task was to identify which of the two variables was the cause and which one the effect, based upon the observed sample. The data sets were chosen such that we expect common agreement on the ground truth. Even though part of the statistical dependences may also be due to hidden common causes, common sense tells us that there is a significant cause-effect relation between the two variables in each pair. We also present baseline results using three different causal inference methods.

ei

PDF Web [BibTex]

ei Mooij, J., Janzing, D. Distinguishing between cause and effect In JMLR Workshop and Conference Proceedings: Volume 6, pages: 147-156, (Editors: Guyon, I. , D. Janzing, B. Schölkopf), MIT Press, Cambridge, MA, USA, Causality: Objectives and Assessment (NIPS Workshop) , 2010 (inproceedings)

PDF Web [BibTex]

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Clustering with Neighborhood Graphs

Maier, M.

Universität des Saarlandes, Saarbrücken, Germany, 2010 (phdthesis)

ei

Web [BibTex]

ei Maier, M. Clustering with Neighborhood Graphs Universität des Saarlandes, Saarbrücken, Germany, 2010 (phdthesis)

Web [BibTex]

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Information-theoretic inference of common ancestors

Steudel, B., Ay, N.

Computing Research Repository (CoRR), abs/1010.5720, pages: 18, 2010 (techreport)

ei

Web [BibTex]

ei Steudel, B., Ay, N. Information-theoretic inference of common ancestors Computing Research Repository (CoRR), abs/1010.5720, pages: 18, 2010 (techreport)

Web [BibTex]

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Erste Erfahrungen bei der Beurteilung hämato-onkologischer Krankheitsmanifestationen an den Extremitäten mit einem PET/MRT-Hybridsystem.

Sauter, A., Boss, A., Kolb, A., Mantlik, F., Bethge, W., Kanz, L., Pfannenberg, C., Stegger, L., Pichler, B., Claussen, C., Horger, M.

Thieme Verlag, Stuttgart, Germany, 91. Deutscher R{\"o}ntgenkongress, 2010 (poster)

ei

Web DOI [BibTex]

ei Sauter, A., Boss, A., Kolb, A., Mantlik, F., Bethge, W., Kanz, L., Pfannenberg, C., Stegger, L., Pichler, B., Claussen, C., Horger, M. Erste Erfahrungen bei der Beurteilung hämato-onkologischer Krankheitsmanifestationen an den Extremitäten mit einem PET/MRT-Hybridsystem. Thieme Verlag, Stuttgart, Germany, 91. Deutscher R{\"o}ntgenkongress, 2010 (poster)

Web DOI [BibTex]

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Detecting the mincut in sparse random graphs

Köhler, R.

Eberhard Karls Universität Tübingen, Germany, 2010 (diplomathesis)

ei

[BibTex]

ei Köhler, R. Detecting the mincut in sparse random graphs Eberhard Karls Universität Tübingen, Germany, 2010 (diplomathesis)

[BibTex]

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A wider view on encoding and decoding in the visual brain-computer interface speller system

Martens, S.

Eberhard Karls Universität Tübingen, Germany, 2010 (phdthesis)

ei

[BibTex]

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Kernel Methods for Detecting the Direction of Time Series

Peters, J., Janzing, D., Gretton, A., Schölkopf, B.

In Advances in Data Analysis, Data Handling and Business Intelligence, pages: 57-66, (Editors: A Fink and B Lausen and W Seidel and A Ultsch), Springer, Berlin, Germany, 32nd Annual Conference of the Gesellschaft f{\"u}r Klassifikation e.V. (GfKl), 2010 (inproceedings)

Abstract
We propose two kernel based methods for detecting the time direction in empirical time series. First we apply a Support Vector Machine on the finite-dimensional distributions of the time series (classification method) by embedding these distributions into a Reproducing Kernel Hilbert Space. For the ARMA method we fit the observed data with an autoregressive moving average process and test whether the regression residuals are statistically independent of the past values. Whenever the dependence in one direction is significantly weaker than in the other we infer the former to be the true one. Both approaches were able to detect the direction of the true generating model for simulated data sets. We also applied our tests to a large number of real world time series. The ARMA method made a decision for a significant fraction of them, in which it was mostly correct, while the classification method did not perform as well, but still exceeded chance level.

ei

PDF Web DOI [BibTex]

ei Peters, J., Janzing, D., Gretton, A., Schölkopf, B. Kernel Methods for Detecting the Direction of Time Series In Advances in Data Analysis, Data Handling and Business Intelligence, pages: 57-66, (Editors: A Fink and B Lausen and W Seidel and A Ultsch), Springer, Berlin, Germany, 32nd Annual Conference of the Gesellschaft f{\"u}r Klassifikation e.V. (GfKl), 2010 (inproceedings)

PDF Web DOI [BibTex]

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Switched Latent Force Models for Movement Segmentation

Alvarez, M., Peters, J., Schölkopf, B., Lawrence, N.

In Advances in neural information processing systems 23, pages: 55-63, (Editors: J Lafferty and CKI Williams and J Shawe-Taylor and RS Zemel and A Culotta), Curran, Red Hook, NY, USA, 24th Annual Conference on Neural Information Processing Systems (NIPS), 2010 (inproceedings)

Abstract
Latent force models encode the interaction between multiple related dynamical systems in the form of a kernel or covariance function. Each variable to be modeled is represented as the output of a differential equation and each differential equation is driven by a weighted sum of latent functions with uncertainty given by a Gaussian process prior. In this paper we consider employing the latent force model framework for the problem of determining robot motor primitives. To deal with discontinuities in the dynamical systems or the latent driving force we introduce an extension of the basic latent force model, that switches between different latent functions and potentially different dynamical systems. This creates a versatile representation for robot movements that can capture discrete changes and non-linearities in the dynamics. We give illustrative examples on both synthetic data and for striking movements recorded using a BarrettWAM robot as haptic input device. Our inspiration is robot motor primitives, but we expect our model to have wide application for dynamical systems including models for human motion capture data and systems biology.

ei

PDF Web [BibTex]

ei Alvarez, M., Peters, J., Schölkopf, B., Lawrence, N. Switched Latent Force Models for Movement Segmentation In Advances in neural information processing systems 23, pages: 55-63, (Editors: J Lafferty and CKI Williams and J Shawe-Taylor and RS Zemel and A Culotta), Curran, Red Hook, NY, USA, 24th Annual Conference on Neural Information Processing Systems (NIPS), 2010 (inproceedings)

PDF Web [BibTex]

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Policy learning algorithmis for motor learning (Algorithmen zum automatischen Erlernen von Motorfähigkigkeiten)

Peters, J., Kober, J., Schaal, S.

Automatisierungstechnik, 58(12):688-694, 2010, clmc (article)

Abstract
Robot learning methods which allow au- tonomous robots to adapt to novel situations have been a long standing vision of robotics, artificial intelligence, and cognitive sciences. However, to date, learning techniques have yet to ful- fill this promise as only few methods manage to scale into the high-dimensional domains of manipulator robotics, or even the new upcoming trend of humanoid robotics. If possible, scaling was usually only achieved in precisely pre-structured domains. In this paper, we investigate the ingredients for a general ap- proach policy learning with the goal of an application to motor skill refinement in order to get one step closer towards human- like performance. For doing so, we study two major components for such an approach, i. e., firstly, we study policy learning algo- rithms which can be applied in the general setting of motor skill learning, and, secondly, we study a theoretically well-founded general approach to representing the required control structu- res for task representation and execution.

am

link (url) [BibTex]

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Gait planning based on kinematics for a quadruped gecko model with redundancy

Son, D., Jeon, D., Nam, W. C., Chang, D., Seo, T., Kim, J.

Robotics and Autonomous Systems, 58, 2010 (article)

pi

[BibTex]

pi Son, D., Jeon, D., Nam, W. C., Chang, D., Seo, T., Kim, J. Gait planning based on kinematics for a quadruped gecko model with redundancy Robotics and Autonomous Systems, 58, 2010 (article)

[BibTex]

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Molecular QED of coherent and incoherent sum-frequency and second-harmonic generation in chiral liquids in the presence of a static electric field

Fischer, P., Salam, A.

MOLECULAR PHYSICS, 108(14):1857-1868, 2010 (article)

Abstract
Coherent second-order nonlinear optical processes are symmetry forbidden in centrosymmetric environments in the electric-dipole approximation. In liquids that contain chiral molecules, however, and which therefore lack mirror image symmetry, coherent sum-frequency generation is possible, whereas second-harmonic generation remains forbidden. Here we apply the theory of molecular quantum electrodynamics to the calculation of the matrix element, transition rate, and integrated signal intensity for sum-frequency and second-harmonic generation taking place in a chiral liquid in the presence and absence of a static electric field, to examine which coherent and incoherent processes exist in the electric-dipole approximation in liquids. Third- and fourth-order time-dependent perturbation theory is employed in combination with single-sided Feynman diagrams to evaluate two contributions arising from static field-free and field-induced processes. It is found that, in addition to the coherent term, an incoherent process exists for sum-frequency generation in liquids. Surprisingly, in the case of dc-field-induced second-harmonic generation, the incoherent contribution is found to always vanish for isotropic chiral liquids even though hyper-Rayleigh second-harmonic generation and electric-field-induced second-harmonic generation are both independently symmetry allowed in any liquid.

pf

DOI [BibTex]

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Flat dry elastomer adhesives as attachment materials for climbing robots

Unver, O., Sitti, M.

IEEE transactions on robotics, 26(1):131-141, IEEE, 2010 (article)

pi

[BibTex]

pi Unver, O., Sitti, M. Flat dry elastomer adhesives as attachment materials for climbing robots IEEE transactions on robotics, 26(1):131-141, IEEE, 2010 (article)

[BibTex]

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Adhesion recovery and passive peeling in a wall climbing robot using adhesives

Kute, C., Murphy, M. P., Mengüç, Y., Sitti, M.

In Robotics and Automation (ICRA), 2010 IEEE International Conference on, pages: 2797-2802, 2010 (inproceedings)

pi

[BibTex]

pi Kute, C., Murphy, M. P., Mengüç, Y., Sitti, M. Adhesion recovery and passive peeling in a wall climbing robot using adhesives In Robotics and Automation (ICRA), 2010 IEEE International Conference on, pages: 2797-2802, 2010 (inproceedings)

[BibTex]

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Nanohandling robot cells

Fatikow, Sergej, Wich, Thomas, Dahmen, Christian, Jasper, Daniel, Stolle, Christian, Eichhorn, Volkmar, Hagemann, Saskia, Weigel-Jech, Michael

In Handbook of Nanophysics: Nanomedicine and Nanorobotics, pages: 1-31, CRC Press, 2010 (incollection)

pi

[BibTex]

pi Fatikow, Sergej, Wich, Thomas, Dahmen, Christian, Jasper, Daniel, Stolle, Christian, Eichhorn, Volkmar, Hagemann, Saskia, Weigel-Jech, Michael Nanohandling robot cells In Handbook of Nanophysics: Nanomedicine and Nanorobotics, pages: 1-31, CRC Press, 2010 (incollection)

[BibTex]

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Goal-Oriented Control of Self-Organizing Behavior in Autonomous Robots

Martius, G.

Georg-August-Universität Göttingen, 2010 (phdthesis)

al

link (url) [BibTex]