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  • Text simplification

    Text simplification

    Text simplification is an aspect of natural language processing that involves modifying, organizing, or categorizing existing text to make it easier to understand while retaining its original meaning. This process is essential in today's world, where communication is increasingly complex due to advancements in science, technology, and media. Human languages are inherently intricate, with extensive vocabularies and complex structures that can be challenging for machines to handle efficiently. Researchers have found that semantic compression techniques can help streamline and simplify text by reducing linguistic diversity and simplifying the vocabulary used in a given context. == Example == Text simplification involves modifying complex sentences into simpler ones to enhance readability and comprehension. Siddharthan (2006) provides an example to illustrate this process. The original sentence contains multiple clauses and phrases, which can be broken down into simpler sentences for better understanding. Also contributing to the firmness in copper, the analyst noted, was a report by Chicago purchasing agents, which precedes the full purchasing agents report that is due out today and gives an indication of what the full report might hold. Also contributing to the firmness in copper, the analyst noted, was a report by Chicago purchasing agents. The Chicago report precedes the full purchasing agents report. The Chicago report gives an indication of what the full report might hold. The full report is due out today. An approach to text simplification involves lexical simplification via lexical substitution, a process that replaces complex words with simpler synonyms. Identifying complex words is a challenge addressed by machine learning classifiers trained on labeled data. Researchers have found that asking labelers to sort words by complexity levels yields more consistent results than the traditional method of categorizing words as simple or complex.

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  • Frequent pattern discovery

    Frequent pattern discovery

    Frequent pattern discovery (or FP discovery, FP mining, or Frequent itemset mining) is part of knowledge discovery in databases, Massive Online Analysis, and data mining; it describes the task of finding the most frequent and relevant patterns in large datasets. The concept was first introduced for mining transaction databases. Frequent patterns are defined as subsets (itemsets, subsequences, or substructures) that appear in a data set with frequency no less than a user-specified or auto-determined threshold. == Techniques == Techniques for FP mining include: market basket analysis cross-marketing catalog design clustering classification recommendation systems For the most part, FP discovery can be done using association rule learning with particular algorithms Eclat, FP-growth and the Apriori algorithm. Other strategies include: Frequent subtree mining Structure mining Sequential pattern mining and respective specific techniques. Implementations exist for various machine learning systems or modules like MLlib for Apache Spark.

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  • Information gain (decision tree)

    Information gain (decision tree)

    In the context of decision trees in information theory and machine learning, information gain refers to the conditional expected value of the Kullback–Leibler divergence of the univariate probability distribution of one variable from the conditional distribution of this variable given the other one. (In broader contexts, information gain can also be used as a synonym for either Kullback–Leibler divergence or mutual information, but the focus of this article is on the more narrow meaning below.) Explicitly, the information gain of a random variable X {\displaystyle X} obtained from an observation of a random variable A {\displaystyle A} taking value a {\displaystyle a} is defined as: I G ( X , a ) = D KL ( P X ∣ a ∥ P X ) {\displaystyle {\mathit {IG}}(X,a)=D_{\text{KL}}{\bigl (}P_{X\mid a}\parallel P_{X}{\bigr )}} In other words, it is the Kullback–Leibler divergence of P X ( x ) {\displaystyle P_{X}(x)} (the prior distribution for X {\displaystyle X} ) from P X ∣ a ( x ) {\displaystyle P_{X\mid a}(x)} (the posterior distribution for X {\displaystyle X} given A = a {\displaystyle A=a} ). The expected value of the information gain is the mutual information I ( X ; A ) {\displaystyle I(X;A)} : E A ⁡ [ I G ( X , A ) ] = I ( X ; A ) {\displaystyle \operatorname {E} _{A}[{\mathit {IG}}(X,A)]=I(X;A)} i.e. the reduction in the entropy of X {\displaystyle X} achieved by learning the state of the random variable A {\displaystyle A} . In machine learning, this concept can be used to define a preferred sequence of attributes to investigate to most rapidly narrow down the state of X. Such a sequence (which depends on the outcome of the investigation of previous attributes at each stage) is called a decision tree, and when applied in the area of machine learning is known as decision tree learning. Usually an attribute with high mutual information should be preferred to other attributes. == General definition == In general terms, the expected information gain is the reduction in information entropy Η from a prior state to a state that takes some information as given: I G ( T , a ) = H ( T ) − H ( T | a ) , {\displaystyle IG(T,a)=\mathrm {H} {(T)}-\mathrm {H} {(T|a)},} where H ( T | a ) {\displaystyle \mathrm {H} {(T|a)}} is the conditional entropy of T {\displaystyle T} given the value of attribute a {\displaystyle a} . This is intuitively plausible when interpreting entropy Η as a measure of uncertainty of a random variable T {\displaystyle T} : by learning (or assuming) a {\displaystyle a} about T {\displaystyle T} , our uncertainty about T {\displaystyle T} is reduced (i.e. I G ( T , a ) {\displaystyle IG(T,a)} is positive), unless of course T {\displaystyle T} is independent of a {\displaystyle a} , in which case H ( T | a ) = H ( T ) {\displaystyle \mathrm {H} (T|a)=\mathrm {H} (T)} , meaning I G ( T , a ) = 0 {\displaystyle IG(T,a)=0} . == Formal definition == Let T denote a set of training examples, each of the form ( x , y ) = ( x 1 , x 2 , x 3 , . . . , x k , y ) {\displaystyle ({\textbf {x}},y)=(x_{1},x_{2},x_{3},...,x_{k},y)} where x a ∈ v a l s ( a ) {\displaystyle x_{a}\in \mathrm {vals} (a)} is the value of the a th {\displaystyle a^{\text{th}}} attribute or feature of example x {\displaystyle {\textbf {x}}} and y is the corresponding class label. The information gain for an attribute a is defined in terms of Shannon entropy H ( − ) {\displaystyle \mathrm {H} (-)} as follows. For a value v taken by attribute a, let S a ( v ) = { x ∈ T | x a = v } {\displaystyle S_{a}{(v)}=\{{\textbf {x}}\in T|x_{a}=v\}} be defined as the set of training inputs of T for which attribute a is equal to v. Then the information gain of T for attribute a is the difference between the a priori Shannon entropy H ( T ) {\displaystyle \mathrm {H} (T)} of the training set and the conditional entropy H ( T | a ) {\displaystyle \mathrm {H} {(T|a)}} . H ( T | a ) = ∑ v ∈ v a l s ( a ) | S a ( v ) | | T | ⋅ H ( S a ( v ) ) . {\displaystyle \mathrm {H} (T|a)=\sum _{v\in \mathrm {vals} (a)}{{\frac {|S_{a}{(v)}|}{|T|}}\cdot \mathrm {H} \left(S_{a}{\left(v\right)}\right)}.} I G ( T , a ) = H ( T ) − H ( T | a ) {\displaystyle IG(T,a)=\mathrm {H} (T)-\mathrm {H} (T|a)} The mutual information is equal to the total entropy for an attribute if for each of the attribute values a unique classification can be made for the result attribute. In this case, the relative entropies subtracted from the total entropy are 0. In particular, the values v ∈ v a l s ( a ) {\displaystyle v\in vals(a)} defines a partition of the training set data T into mutually exclusive and all-inclusive subsets, inducing a categorical probability distribution P a ( v ) {\textstyle P_{a}{(v)}} on the values v ∈ v a l s ( a ) {\textstyle v\in vals(a)} of attribute a. The distribution is given P a ( v ) := | S a ( v ) | | T | {\textstyle P_{a}{(v)}:={\frac {|S_{a}{(v)}|}{|T|}}} . In this representation, the information gain of T given a can be defined as the difference between the unconditional Shannon entropy of T and the expected entropy of T conditioned on a, where the expectation value is taken with respect to the induced distribution on the values of a. I G ( T , a ) = H ( T ) − ∑ v ∈ v a l s ( a ) P a ( v ) H ( S a ( v ) ) = H ( T ) − E P a [ H ( S a ( v ) ) ] = H ( T ) − H ( T | a ) . {\displaystyle {\begin{alignedat}{2}IG(T,a)&=\mathrm {H} (T)-\sum _{v\in \mathrm {vals} (a)}{P_{a}{(v)}\mathrm {H} \left(S_{a}{(v)}\right)}\\&=\mathrm {H} (T)-\mathbb {E} _{P_{a}}{\left[\mathrm {H} {(S_{a}{(v)})}\right]}\\&=\mathrm {H} (T)-\mathrm {H} {(T|a)}.\end{alignedat}}} == Example == In engineering applications, information is analogous to signal, and entropy is analogous to noise. It determines how a decision tree chooses to split data. The leftmost figure below is very impure and has high entropy corresponding to higher disorder and lower information value. As we go to the right, the entropy decreases, and the information value increases. Now, it is clear that information gain is the measure of how much information a feature provides about a class. Let's visualize information gain in a decision tree as shown in the right: The node t is the parent node, and the sub-nodes tL and tR are child nodes. In this case, the parent node t has a collection of cancer and non-cancer samples denoted as C and NC respectively. We can use information gain to determine how good the splitting of nodes is in a decision tree. In terms of entropy, information gain is defined as: To understand this idea, let's start by an example in which we create a simple dataset and want to see if gene mutations could be related to patients with cancer. Given four different gene mutations, as well as seven samples, the training set for a decision can be created as follows: In this dataset, a 1 means the sample has the mutation (True), while a 0 means the sample does not (False). A sample with C denotes that it has been confirmed to be cancerous, while NC means it is non-cancerous. Using this data, a decision tree can be created with information gain used to determine the candidate splits for each node. For the next step, the entropy at parent node t of the above simple decision tree is computed as:H(t) = −[pC,t log2(pC,t) + pNC,t log2(pNC,t)] where, probability of selecting a class ‘C’ sample at node t, pC,t = n(t, C) / n(t), probability of selecting a class ‘NC’ sample at node t, pNC,t = n(t, NC) / n(t), n(t), n(t, C), and n(t, NC) are the number of total samples, ‘C’ samples and ‘NC’ samples at node t respectively.Using this with the example training set, the process for finding information gain beginning with H ( t ) {\displaystyle \mathrm {H} {(t)}} for Mutation 1 is as follows: pC, t = 4/7 pNC, t = 3/7 H ( t ) {\displaystyle \mathrm {H} {(t)}} = −(4/7 × log2(4/7) + 3/7 × log2(3/7)) = 0.985 Note: H ( t ) {\displaystyle \mathrm {H} {(t)}} will be the same for all mutations at the root. The relatively high value of entropy H ( t ) = 0.985 {\displaystyle \mathrm {H} {(t)}=0.985} (1 is the optimal value) suggests that the root node is highly impure and the constituents of the input at the root node would look like the leftmost figure in the above Entropy Diagram. However, such a set of data is good for learning the attributes of the mutations used to split the node. At a certain node, when the homogeneity of the constituents of the input occurs (as shown in the rightmost figure in the above Entropy Diagram), the dataset would no longer be good for learning. Moving on, the entropy at left and right child nodes of the above decision tree is computed using the formulae:H(tL) = −[pC,L log2(pC,L) + pNC,L log2(pNC,L)]H(tR) = −[pC,R log2(pC,R) + pNC,R log2(pNC,R)]where, probability of selecting a class ‘C’ sample at the left child node, pC,L = n(tL, C) / n(tL), probability of selecting a class ‘NC’ sample at the left child node, pNC,L = n(tL, NC) / n(tL), probability of selecting a class ‘C’ sample at the right child node, pC,R = n(tR, C) / n(tR), prob

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  • Synaptic weight

    Synaptic weight

    In neuroscience and computer science, synaptic weight refers to the strength or amplitude of a connection between two nodes, corresponding in biology to the amount of influence the firing of one neuron has on another. The term is typically used in artificial and biological neural network research. == Computation == In a computational neural network, a vector or set of inputs x {\displaystyle {\textbf {x}}} and outputs y {\displaystyle {\textbf {y}}} , or pre- and post-synaptic neurons respectively, are interconnected with synaptic weights represented by the matrix w {\displaystyle w} , where for a linear neuron y j = ∑ i w i j x i or y = w x {\displaystyle y_{j}=\sum _{i}w_{ij}x_{i}~~{\textrm {or}}~~{\textbf {y}}=w{\textbf {x}}} . where the rows of the synaptic matrix represent the vector of synaptic weights for the output indexed by j {\displaystyle j} . The synaptic weight is changed by using a learning rule, the most basic of which is Hebb's rule, which is usually stated in biological terms as Neurons that fire together, wire together. Computationally, this means that if a large signal from one of the input neurons results in a large signal from one of the output neurons, then the synaptic weight between those two neurons will increase. The rule is unstable, however, and is typically modified using such variations as Oja's rule, radial basis functions or the backpropagation algorithm. == Biology == For biological networks, the effect of synaptic weights is not as simple as for linear neurons or Hebbian learning. However, biophysical models such as BCM theory have seen some success in mathematically describing these networks. In the mammalian central nervous system, signal transmission is carried out by interconnected networks of nerve cells, or neurons. For the basic pyramidal neuron, the input signal is carried by the axon, which releases neurotransmitter chemicals into the synapse which is picked up by the dendrites of the next neuron, which can then generate an action potential which is analogous to the output signal in the computational case. The synaptic weight in this process is determined by several variable factors: How well the input signal propagates through the axon (see myelination), The amount of neurotransmitter released into the synapse and the amount that can be absorbed in the following cell (determined by the number of AMPA and NMDA receptors on the cell membrane and the amount of intracellular calcium and other ions), The number of such connections made by the axon to the dendrites, How well the signal propagates and integrates in the postsynaptic cell. The changes in synaptic weight that occur is known as synaptic plasticity, and the process behind long-term changes (long-term potentiation and depression) is still poorly understood. Hebb's original learning rule was originally applied to biological systems, but has had to undergo many modifications as a number of theoretical and experimental problems came to light.

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  • Elasticity (computing)

    Elasticity (computing)

    In computing, elasticity is defined as "the degree to which a system is able to adapt to workload changes by provisioning and de-provisioning resources in an autonomic manner, such that at each point in time the available resources match the current demand as closely as possible". Elasticity is a defining characteristic that differentiates cloud computing from previously proposed distributed computing paradigms, such as grid computing. The dynamic adaptation of capacity, e.g., by altering the use of computing resources, to meet a varying workload is called "elastic computing". In the world of distributed systems, there are several definitions according to the authors; some consider the concepts of scalability a sub-part of elasticity, others as being distinct. == Purpose == Elasticity aims to match the amount of resources allocated to a service with the amount of resources it actually requires, avoiding over- or under-provisioning. Over-provisioning, i.e., allocating more resources than required, should be avoided as it may incur extra costs (monetary, energy, operational, etc.) for unused or underutilized resources. For example, if a website is over-provisioned with two cloud computing resources to handle current demand that only requires one resource, the costs of maintaining the second resource would effectively be wasted. Under-provisioning, i.e., allocating fewer resources than required, must be avoided; otherwise, the service cannot serve its users with a good service. For example, under-provisioning a website may make it seem slow or unreachable, because not enough resources have been allocated to meet current demand. == Example == Elasticity can be illustrated through an example of a service provider who wants to run a website on the cloud. At moment t 0 {\displaystyle t_{0}} , the website is unpopular and a single machine is sufficient to serve all users. At moment t 1 {\displaystyle t_{1}} , the website suddenly becomes popular, and a single machine is no longer sufficient to serve all users. Based on the number of web users simultaneously accessing the website and the resource requirements of the web server, ten machines are needed. An elastic system should immediately detect this condition and provision nine additional machines from the cloud to serve all users responsively. At time t 2 {\displaystyle t_{2}} , the website becomes unpopular again. The ten machines currently allocated to the website are mostly idle and a single machine would be sufficient to serve the few users who are accessing the website. An elastic system should immediately detect this condition and deprovision nine machines, releasing them to the cloud. == Problems == === Resource provisioning time === Resource provisioning takes time. A cloud virtual machine (VM) can be acquired at any time by the user; however, it may take up to several minutes for the acquired VM to be ready to use. The VM startup time is dependent on factors such as image size, VM type, data center location, number of VMs, etc. Cloud providers have different VM startup performance. This implies that any control mechanism designed for elastic applications must consider the time needed for the resource provisioning actions to take effect. === Monitoring elastic applications === Elastic applications can allocate and deallocate resources on demand for specific application components. This makes cloud resources volatile, and traditional monitoring tools which associate monitoring data with a particular resource, such as Ganglia or Nagios, are no longer suitable for monitoring the behavior of elastic applications. For example, during its lifetime, a data storage tier of an elastic application might add and remove data storage VMs due to cost and performance requirements, varying the number of used VMs. Thus, additional information is needed in monitoring elastic applications, such as associating the logical application structure over the underlying virtual infrastructure. This in turn generates other problems, such as data aggregation from multiple VMs towards extracting the behavior of the application component running on top of those VMs, as different metrics may need to be aggregated differently (e.g., CPU usage could be averaged, network transfer might be summed up). === Stakeholder requirements === When deploying applications in cloud infrastructures (IaaS/PaaS), stakeholder requirements need to be considered in order to ensure that elastic behavior meets stakeholder needs. Traditionally, the optimal trade-off between cost and quality or performance is considered; however, for real world cloud users, requirements regarding elastic behavior are more complex and target multiple dimensions of elasticity (e.g., SYBL). === Multiple levels of control === Cloud applications vary in type and complexity, with multiple levels of artifacts deployed in layers. Controlling such structures must take into consideration a variety of issues. For multi-level control, control systems need to consider the impact lower level control has upon higher level ones, and vice versa (e.g., controlling virtual machines, web containers, or web services in the same time), as well as conflicts that may appear between various control strategies from various levels. Elastic strategies on in cloud computing can take advantage of control-theoretic methods (e.g., predictive control has been experimented in cloud computing scenarios by showing considerable advantages with respect to reactive methods). One approach to multi-level elastic clouc control is rSYBL.

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  • Prefrontal cortex basal ganglia working memory

    Prefrontal cortex basal ganglia working memory

    Prefrontal cortex basal ganglia working memory (PBWM) is an algorithm that models working memory in the prefrontal cortex and the basal ganglia. It can be compared to long short-term memory (LSTM) in functionality, but is more biologically explainable. It uses the primary value learned value model to train prefrontal cortex working-memory updating system, based on the biology of the prefrontal cortex and basal ganglia. It is used as part of the Leabra framework and was implemented in Emergent in 2019. == Abstract == The prefrontal cortex has long been thought to subserve both working memory (the holding of information online for processing) and "executive" functions (deciding how to manipulate working memory and perform processing). Although many computational models of working memory have been developed, the mechanistic basis of executive function remains elusive. PBWM is a computational model of the prefrontal cortex to control both itself and other brain areas in a strategic, task-appropriate manner. These learning mechanisms are based on subcortical structures in the midbrain, basal ganglia and amygdala, which together form an actor/critic architecture. The critic system learns which prefrontal representations are task-relevant and trains the actor, which in turn provides a dynamic gating mechanism for controlling working memory updating. Computationally, the learning mechanism is designed to simultaneously solve the temporal and structural credit assignment problems. The model's performance compares favorably with standard backpropagation-based temporal learning mechanisms on the challenging 1-2-AX working memory task, and other benchmark working memory tasks. == Model == First, there are multiple separate stripes (groups of units) in the prefrontal cortex and striatum layers. Each stripe can be independently updated, such that this system can remember several different things at the same time, each with a different "updating policy" of when memories are updated and maintained. The active maintenance of the memory is in prefrontal cortex (PFC), and the updating signals (and updating policy more generally) come from the striatum units (a subset of basal ganglia units). PVLV provides reinforcement learning signals to train up the dynamic gating system in the basal ganglia. === Sensory input and motor output === The sensory input is connected to the posterior cortex which is connected to the motor output. The sensory input is also linked to the PVLV system. === Posterior cortex === The posterior cortex form the hidden layers of the input/output mapping. The PFC is connected with the posterior cortex to contextualize this input/output mapping. === PFC === The PFC (for output gating) has a localist one-to-one representation of the input units for every stripe. Thus, you can look at these PFC representations and see directly what the network is maintaining. The PFC maintains the working memory needed to perform the task. === Striatum === This is the dynamic gating system representing the striatum units of the basal ganglia. Every even-index unit within a stripe represents "Go", while the odd-index units represent "NoGo." The Go units cause updating of the PFC, while the NoGo units cause the PFC to maintain its existing memory representation. There are groups of units for every stripe. In the PBWM model in Emergent, the matrices represent the striatum. === PVLV === All of these layers are part of PVLV system. The PVLV system controls the dopaminergic modulation of the basal ganglia (BG). Thus, BG/PVLV form an actor-critic architecture where the PVLV system learns when to update. ==== SNrThal ==== SNrThal represents the substantia nigra pars reticulata (SNr) and the associated area of the thalamus, which produce a competition among the Go/NoGo units within a given stripe and mediates competition using k-winners-take-all dynamics. If there is more overall Go activity in a given stripe, then the associated SNrThal unit gets activated, and it drives updating in PFC. For every stripe, there is one unit in SNrThal. ==== VTA and SNc ==== Ventral tegmental area (VTA) and substantia nigra pars compacta (SNc) are part of the dopamine layer. This layer models midbrain dopamine neurons. They control the dopaminergic modulation of the basal ganglia.

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  • Dimensionality reduction

    Dimensionality reduction

    Dimensionality reduction, or dimension reduction, is the transformation of data from a high-dimensional space into a low-dimensional space so that the low-dimensional representation retains some meaningful properties of the original data, ideally close to its intrinsic dimension. Working in high-dimensional spaces can be undesirable for many reasons; raw data are often sparse as a consequence of the curse of dimensionality, and analyzing the data is usually computationally intractable. Dimensionality reduction is common in fields that deal with large numbers of observations and/or large numbers of variables, such as signal processing, speech recognition, neuroinformatics, and bioinformatics. Methods are commonly divided into linear and nonlinear approaches. Linear approaches can be further divided into feature selection and feature extraction. Dimensionality reduction can be used for noise reduction, data visualization, cluster analysis, or as an intermediate step to facilitate other analyses. == Feature selection == The process of feature selection aims to find a suitable subset of the input variables (features, or attributes) for the task at hand. The three strategies are: the filter strategy (e.g., information gain), the wrapper strategy (e.g., accuracy-guided search), and the embedded strategy (features are added or removed while building the model based on prediction errors). Data analysis such as regression or classification can be done in the reduced space more accurately than in the original space. == Feature projection == Feature projection (also called feature extraction) transforms the data from the high-dimensional space to a space of fewer dimensions. The data transformation may be linear, as in principal component analysis (PCA), but many nonlinear dimensionality reduction techniques also exist. For multidimensional data, tensor representation can be used in dimensionality reduction through multilinear subspace learning. === Principal component analysis (PCA) === The main linear technique for dimensionality reduction, principal component analysis, performs a linear mapping of the data to a lower-dimensional space in such a way that the variance of the data in the low-dimensional representation is maximized. In practice, the covariance (and sometimes the correlation) matrix of the data is constructed and the eigenvectors on this matrix are computed. The eigenvectors that correspond to the largest eigenvalues (the principal components) can now be used to reconstruct a large fraction of the variance of the original data. Moreover, the first few eigenvectors can often be interpreted in terms of the large-scale physical behavior of the system, because they often contribute the vast majority of the system's energy, especially in low-dimensional systems. Still, this must be proved on a case-by-case basis as not all systems exhibit this behavior. The original space (with dimension of the number of points) has been reduced (with data loss, but hopefully retaining the most important variance) to the space spanned by a few eigenvectors. === Non-negative matrix factorization (NMF) === NMF decomposes a non-negative matrix to the product of two non-negative ones, which has been a promising tool in fields where only non-negative signals exist, such as astronomy. NMF is well known since the multiplicative update rule by Lee & Seung, which has been continuously developed: the inclusion of uncertainties, the consideration of missing data and parallel computation, sequential construction which leads to the stability and linearity of NMF, as well as other updates including handling missing data in digital image processing. With a stable component basis during construction, and a linear modeling process, sequential NMF is able to preserve the flux in direct imaging of circumstellar structures in astronomy, as one of the methods of detecting exoplanets, especially for the direct imaging of circumstellar discs. In comparison with PCA, NMF does not remove the mean of the matrices, which leads to physical non-negative fluxes; therefore NMF is able to preserve more information than PCA as demonstrated by Ren et al. === Kernel PCA === Principal component analysis can be employed in a nonlinear way by means of the kernel trick. The resulting technique is capable of constructing nonlinear mappings that maximize the variance in the data. The resulting technique is called kernel PCA. === Graph-based kernel PCA === Other prominent nonlinear techniques include manifold learning techniques such as Isomap, locally linear embedding (LLE), Hessian LLE, Laplacian eigenmaps, and methods based on tangent space analysis. These techniques assume that the high-dimensional input data lies near a low-dimensional manifold embedded in the ambient space, and construct a low-dimensional representation using a cost function that retains local properties of the data; they can be viewed as defining a graph-based kernel for Kernel PCA. More recently, techniques have been proposed that, instead of defining a fixed kernel, try to learn the kernel using semidefinite programming. The most prominent example of such a technique is maximum variance unfolding (MVU). The central idea of MVU is to exactly preserve all pairwise distances between nearest neighbors (in the inner product space) while maximizing the distances between points that are not nearest neighbors. An alternative approach to neighborhood preservation is through the minimization of a cost function that measures differences between distances in the input and output spaces. Important examples of such techniques include: classical multidimensional scaling, which is identical to PCA; Isomap, which uses geodesic distances in the data space; diffusion maps, which use diffusion distances in the data space; t-distributed stochastic neighbor embedding (t-SNE), which minimizes the divergence between distributions over pairs of points; and curvilinear component analysis. A different approach to nonlinear dimensionality reduction is through the use of autoencoders, a special kind of feedforward neural networks with a bottleneck hidden layer. The training of deep encoders is typically performed using a greedy layer-wise pre-training (e.g., using a stack of restricted Boltzmann machines) that is followed by a finetuning stage based on backpropagation. === Linear discriminant analysis (LDA) === Linear discriminant analysis (LDA) is a generalization of Fisher's linear discriminant, a method used in statistics, pattern recognition, and machine learning to find a linear combination of features that characterizes or separates two or more classes of objects or events. === Generalized discriminant analysis (GDA) === GDA deals with nonlinear discriminant analysis using kernel function operator. The underlying theory is close to the support-vector machines (SVM) insofar as the GDA method provides a mapping of the input vectors into high-dimensional feature space. Similar to LDA, the objective of GDA is to find a projection for the features into a lower dimensional space by maximizing the ratio of between-class scatter to within-class scatter. === Autoencoder === Autoencoders can be used to learn nonlinear dimension reduction functions and codings together with an inverse function from the coding to the original representation. === t-SNE === T-distributed Stochastic Neighbor Embedding (t-SNE) is a nonlinear dimensionality reduction technique useful for the visualization of high-dimensional datasets. It is not recommended for use in analysis such as clustering or outlier detection since it does not necessarily preserve densities or distances well. === UMAP === Uniform manifold approximation and projection (UMAP) is a nonlinear dimensionality reduction technique. Visually, it is similar to t-SNE, but it assumes that the data is uniformly distributed on a locally connected Riemannian manifold and that the Riemannian metric is locally constant or approximately locally constant. == Dimension reduction == For high-dimensional datasets, dimension reduction is usually performed prior to applying a k-nearest neighbors (k-NN) algorithm in order to mitigate the curse of dimensionality. Feature extraction and dimension reduction can be combined in one step, using principal component analysis (PCA), linear discriminant analysis (LDA), canonical correlation analysis (CCA), or non-negative matrix factorization (NMF) techniques to pre-process the data, followed by clustering via k-NN on feature vectors in a reduced-dimension space. In machine learning, this process is also called low-dimensional embedding. For high-dimensional datasets (e.g., when performing similarity search on live video streams, DNA data, or high-dimensional time series), running a fast approximate k-NN search using locality-sensitive hashing, random projection, "sketches", or other high-dimensional similarity search techniques from the VLDB conference toolbox may be the only fe

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  • Nonlinear dimensionality reduction

    Nonlinear dimensionality reduction

    Nonlinear dimensionality reduction (NLDR), also known as manifold learning, is any of various related techniques that aim to project high-dimensional data, potentially existing across non-linear manifolds which cannot be adequately captured by linear decomposition methods, onto lower-dimensional latent manifolds, with the goal of either visualizing the data in the low-dimensional space, or learning the mapping (either from the high-dimensional space to the low-dimensional embedding or vice versa) itself. The techniques described below can be understood as generalizations of linear decomposition methods used for dimensionality reduction, such as singular value decomposition and principal component analysis. == Applications of NLDR == High dimensional data can be hard for machines to work with, requiring significant time and space for analysis. It also presents a challenge for humans, since it's hard to visualize or understand data in more than three dimensions. Reducing the dimensionality of a data set, while keeping its essential features relatively intact, can make algorithms more efficient and allow analysts to visualize trends and patterns. The reduced-dimensional representations of data are often referred to as "intrinsic variables". This description implies that these are the values from which the data was produced. For example, consider a dataset that contains images of a letter 'A', which has been scaled and rotated by varying amounts. Each image has 32×32 pixels. Each image can be represented as a vector of 1024 pixel values. Each row is a sample on a two-dimensional manifold in 1024-dimensional space (a Hamming space). The intrinsic dimensionality is two, because two variables (rotation and scale) were varied in order to produce the data. Information about the shape or look of a letter 'A' is not part of the intrinsic variables because it is the same in every instance. Nonlinear dimensionality reduction will discard the correlated information (the letter 'A') and recover only the varying information (rotation and scale). By comparison, if principal component analysis, which is a linear dimensionality reduction algorithm, is used to reduce this same dataset into two dimensions, the resulting values are not so well organized. This demonstrates that the high-dimensional vectors (each representing a letter 'A') that sample this manifold vary in a non-linear manner. It should be apparent, therefore, that NLDR has several applications in the field of computer-vision. For example, consider a robot that uses a camera to navigate in a closed static environment. The images obtained by that camera can be considered to be samples on a manifold in high-dimensional space, and the intrinsic variables of that manifold will represent the robot's position and orientation. Invariant manifolds are of general interest for model order reduction in dynamical systems. In particular, if there is an attracting invariant manifold in the phase space, nearby trajectories will converge onto it and stay on it indefinitely, rendering it a candidate for dimensionality reduction of the dynamical system. While such manifolds are not guaranteed to exist in general, the theory of spectral submanifolds (SSM) gives conditions for the existence of unique attracting invariant objects in a broad class of dynamical systems. Active research in NLDR seeks to unfold the observation manifolds associated with dynamical systems to develop modeling techniques. Some of the more prominent nonlinear dimensionality reduction techniques are listed below. == Important concepts == === Sammon's mapping === Sammon's mapping is one of the first and most popular NLDR techniques. === Self-organizing map === The self-organizing map (SOM, also called Kohonen map) and its probabilistic variant generative topographic mapping (GTM) use a point representation in the embedded space to form a latent variable model based on a non-linear mapping from the embedded space to the high-dimensional space. These techniques are related to work on density networks, which also are based around the same probabilistic model. === Kernel principal component analysis === Perhaps the most widely used algorithm for dimensional reduction is kernel PCA. PCA begins by computing the covariance matrix of the m × n {\displaystyle m\times n} matrix X {\displaystyle \mathbf {X} } C = 1 m ∑ i = 1 m x i x i T . {\displaystyle C={\frac {1}{m}}\sum _{i=1}^{m}{\mathbf {x} _{i}\mathbf {x} _{i}^{\mathsf {T}}}.} It then projects the data onto the first k eigenvectors of that matrix. By comparison, KPCA begins by computing the covariance matrix of the data after being transformed into a higher-dimensional space, C = 1 m ∑ i = 1 m Φ ( x i ) Φ ( x i ) T . {\displaystyle C={\frac {1}{m}}\sum _{i=1}^{m}{\Phi (\mathbf {x} _{i})\Phi (\mathbf {x} _{i})^{\mathsf {T}}}.} It then projects the transformed data onto the first k eigenvectors of that matrix, just like PCA. It uses the kernel trick to factor away much of the computation, such that the entire process can be performed without actually computing Φ ( x ) {\displaystyle \Phi (\mathbf {x} )} . Of course Φ {\displaystyle \Phi } must be chosen such that it has a known corresponding kernel. Unfortunately, it is not trivial to find a good kernel for a given problem, so KPCA does not yield good results with some problems when using standard kernels. For example, it is known to perform poorly with these kernels on the Swiss roll manifold. However, one can view certain other methods that perform well in such settings (e.g., Laplacian Eigenmaps, LLE) as special cases of kernel PCA by constructing a data-dependent kernel matrix. KPCA has an internal model, so it can be used to map points onto its embedding that were not available at training time. === Principal curves and manifolds === Principal curves and manifolds give the natural geometric framework for nonlinear dimensionality reduction and extend the geometric interpretation of PCA by explicitly constructing an embedded manifold, and by encoding using standard geometric projection onto the manifold. This approach was originally proposed by Trevor Hastie in his 1984 thesis, which he formally introduced in 1989. This idea has been explored further by many authors. How to define the "simplicity" of the manifold is problem-dependent, however, it is commonly measured by the intrinsic dimensionality and/or the smoothness of the manifold. Usually, the principal manifold is defined as a solution to an optimization problem. The objective function includes a quality of data approximation and some penalty terms for the bending of the manifold. The popular initial approximations are generated by linear PCA and Kohonen's SOM. === Laplacian eigenmaps === Laplacian eigenmaps uses spectral techniques to perform dimensionality reduction. This technique relies on the basic assumption that the data lies in a low-dimensional manifold in a high-dimensional space. This algorithm cannot embed out-of-sample points, but techniques based on Reproducing kernel Hilbert space regularization exist for adding this capability. Such techniques can be applied to other nonlinear dimensionality reduction algorithms as well. Traditional techniques like principal component analysis do not consider the intrinsic geometry of the data. Laplacian eigenmaps builds a graph from neighborhood information of the data set. Each data point serves as a node on the graph and connectivity between nodes is governed by the proximity of neighboring points (using e.g. the k-nearest neighbor algorithm). The graph thus generated can be considered as a discrete approximation of the low-dimensional manifold in the high-dimensional space. Minimization of a cost function based on the graph ensures that points close to each other on the manifold are mapped close to each other in the low-dimensional space, preserving local distances. The eigenfunctions of the Laplace–Beltrami operator on the manifold serve as the embedding dimensions, since under mild conditions this operator has a countable spectrum that is a basis for square integrable functions on the manifold (compare to Fourier series on the unit circle manifold). Attempts to place Laplacian eigenmaps on solid theoretical ground have met with some success, as under certain nonrestrictive assumptions, the graph Laplacian matrix has been shown to converge to the Laplace–Beltrami operator as the number of points goes to infinity. === Isomap === Isomap is a combination of the Floyd–Warshall algorithm with classic Multidimensional Scaling (MDS). Classic MDS takes a matrix of pair-wise distances between all points and computes a position for each point. Isomap assumes that the pair-wise distances are only known between neighboring points, and uses the Floyd–Warshall algorithm to compute the pair-wise distances between all other points. This effectively estimates the full matrix of pair-wise geodesic distances between all of the points. Isomap th

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  • Outline of robotics

    Outline of robotics

    The following outline is provided as an overview of and topical guide to robotics: Robotics is a branch of mechanical engineering, electrical engineering and computer science that deals with the design, construction, operation, and application of robots, as well as computer systems for their control, sensory feedback, and information processing. These technologies deal with automated machines that can take the place of humans in dangerous environments or manufacturing processes, or resemble humans in appearance, behaviour, and or cognition. Many of today's robots are inspired by nature contributing to the field of bio-inspired robotics. The word "robot" was introduced to the public by Czech writer Karel Čapek in his play R.U.R. (Rossum's Universal Robots), published in 1920. The term "robotics" was coined by Isaac Asimov in his 1941 science fiction short-story "Liar!" == Nature of robotics == Robotics can be described as: An applied science – scientific knowledge transferred into a physical environment. A branch of computer science – A branch of electrical engineering – A branch of mechanical engineering – Research and development – A branch of technology – == Branches of robotics == Adaptive control – control method used by a controller which must adapt to a controlled system with parameters which vary, or are initially uncertain. For example, as an aircraft flies, its mass will slowly decrease as a result of fuel consumption; a control law is needed that adapts itself to such changing conditions. Aerial robotics – development of unmanned aerial vehicles (UAVs), commonly known as drones, aircraft without a human pilot aboard. Their flight is controlled either autonomously by onboard computers or by the remote control of a pilot on the ground or in another vehicle. Android science – interdisciplinary framework for studying human interaction and cognition based on the premise that a very humanlike robot (that is, an android) can elicit human-directed social responses in human beings. Anthrobotics – science of developing and studying robots that are either entirely or in some way human-like. Artificial intelligence – the intelligence of machines and the branch of computer science that aims to create it. Artificial neural networks – a mathematical model inspired by biological neural networks. Autonomous car – an autonomous vehicle capable of fulfilling the human transportation capabilities of a traditional car Autonomous research robotics – Bayesian network – BEAM robotics – a style of robotics that primarily uses simple analogue circuits instead of a microprocessor in order to produce an unusually simple design (in comparison to traditional mobile robots) that trades flexibility for robustness and efficiency in performing the task for which it was designed. Behavior-based robotics – the branch of robotics that incorporates modular or behavior based AI (BBAI). Bio-inspired robotics – making robots that are inspired by biological systems. Biomimicry and bio-inspired design are sometimes confused. Biomimicry is copying the nature while bio-inspired design is learning from nature and making a mechanism that is simpler and more effective than the system observed in nature. Biomimetic – see Bionics. Biomorphic robotics – a sub-discipline of robotics focused upon emulating the mechanics, sensor systems, computing structures and methodologies used by animals. Bionics – also known as biomimetics, biognosis, biomimicry, or bionical creativity engineering is the application of biological methods and systems found in nature to the study and design of engineering systems and modern technology. Biorobotics – a study of how to make robots that emulate or simulate living biological organisms mechanically or even chemically. Cloud robotics – is a field of robotics that attempts to invoke cloud technologies such as cloud computing, cloud storage, and other Internet technologies centered around the benefits of converged infrastructure and shared services for robotics. Cognitive robotics – views animal cognition as a starting point for the development of robotic information processing, as opposed to more traditional Artificial Intelligence techniques. Clustering – Computational neuroscience – study of brain function in terms of the information processing properties of the structures that make up the nervous system. Robot control – a study of controlling robots Robotics conventions – Data mining Techniques – Degrees of freedom – in mechanics, the degree of freedom (DOF) of a mechanical system is the number of independent parameters that define its configuration. It is the number of parameters that determine the state of a physical system and is important to the analysis of systems of bodies in mechanical engineering, aeronautical engineering, robotics, and structural engineering. Developmental robotics – a methodology that uses metaphors from neural development and developmental psychology to develop the mind for autonomous robots Digital control – a branch of control theory that uses digital computers to act as system controllers. Digital image processing – the use of computer algorithms to perform image processing on digital images. Dimensionality reduction – the process of reducing the number of random variables under consideration, and can be divided into feature selection and feature extraction. Distributed robotics – Electronic stability control – is a computerized technology that improves the safety of a vehicle's stability by detecting and reducing loss of traction (skidding). Evolutionary computation – Evolutionary robotics – a methodology that uses evolutionary computation to develop controllers for autonomous robots Extended Kalman filter – Flexible Distribution functions – Feedback control and regulation – Human–computer interaction – a study, planning and design of the interaction between people (users) and computers Human robot interaction – a study of interactions between humans and robots Intelligent vehicle technologies – comprise electronic, electromechanical, and electromagnetic devices - usually silicon micromachined components operating in conjunction with computer controlled devices and radio transceivers to provide precision repeatability functions (such as in robotics artificial intelligence systems) emergency warning validation performance reconstruction. Computer vision – Machine vision – Kinematics – study of motion, as applied to robots. This includes both the design of linkages to perform motion, their power, control and stability; also their planning, such as choosing a sequence of movements to achieve a broader task. Laboratory robotics – the act of using robots in biology or chemistry labs Robot learning – learning to perform tasks such as obstacle avoidance, control and various other motion-related tasks Direct manipulation interface – In computer science, direct manipulation is a human–computer interaction style which involves continuous representation of objects of interest and rapid, reversible, and incremental actions and feedback. The intention is to allow a user to directly manipulate objects presented to them, using actions that correspond at least loosely to the physical world. Manifold learning – Microrobotics – a field of miniature robotics, in particular mobile robots with characteristic dimensions less than 1 mm Motion planning – (a.k.a., the "navigation problem", the "piano mover's problem") is a term used in robotics for the process of detailing a task into discrete motions. Motor control – information processing related activities carried out by the central nervous system that organize the musculoskeletal system to create coordinated movements and skilled actions. Nanorobotics – the emerging technology field creating machines or robots whose components are at or close to the scale of a nanometer (10−9 meters). Passive dynamics – refers to the dynamical behavior of actuators, robots, or organisms when not drawing energy from a supply (e.g., batteries, fuel, ATP). Programming by Demonstration – an End-user development technique for teaching a computer or a robot new behaviors by demonstrating the task to transfer directly instead of programming it through machine commands. Quantum robotics – a subfield of robotics that deals with using quantum computers to run robotics algorithms more quickly than digital computers can. Rapid prototyping – automatic construction of physical objects via additive manufacturing from virtual models in computer aided design (CAD) software, transforming them into thin, virtual, horizontal cross-sections and then producing successive layers until the items are complete. As of June 2011, used for making models, prototype parts, and production-quality parts in relatively small numbers. Reinforcement learning – an area of machine learning in computer science, concerned with how an agent ought to take actions in an environment so as to maximize some notion of cumulative reward. Robot

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  • Gaussian adaptation

    Gaussian adaptation

    Gaussian adaptation (GA), also called normal or natural adaptation (NA) is an evolutionary algorithm designed for the maximization of manufacturing yield due to statistical deviation of component values of signal processing systems. In short, GA is a stochastic adaptive process where a number of samples of an n-dimensional vector x[xT = (x1, x2, ..., xn)] are taken from a multivariate Gaussian distribution, N(m, M), having mean m and moment matrix M. The samples are tested for fail or pass. The first- and second-order moments of the Gaussian restricted to the pass samples are m and M. The outcome of x as a pass sample is determined by a function s(x), 0 < s(x) < q ≤ 1, such that s(x) is the probability that x will be selected as a pass sample. The average probability of finding pass samples (yield) is P ( m ) = ∫ s ( x ) N ( x − m ) d x {\displaystyle P(m)=\int s(x)N(x-m)\,dx} Then the theorem of GA states: For any s(x) and for any value of P < q, there always exist a Gaussian p. d. f. [ probability density function ] that is adapted for maximum dispersion. The necessary conditions for a local optimum are m = m and M proportional to M. The dual problem is also solved: P is maximized while keeping the dispersion constant (Kjellström, 1991). Proofs of the theorem may be found in the papers by Kjellström, 1970, and Kjellström & Taxén, 1981. Since dispersion is defined as the exponential of entropy/disorder/average information it immediately follows that the theorem is valid also for those concepts. Altogether, this means that Gaussian adaptation may carry out a simultaneous maximisation of yield and average information (without any need for the yield or the average information to be defined as criterion functions). The theorem is valid for all regions of acceptability and all Gaussian distributions. It may be used by cyclic repetition of random variation and selection (like the natural evolution). In every cycle a sufficiently large number of Gaussian distributed points are sampled and tested for membership in the region of acceptability. The centre of gravity of the Gaussian, m, is then moved to the centre of gravity of the approved (selected) points, m. Thus, the process converges to a state of equilibrium fulfilling the theorem. A solution is always approximate because the centre of gravity is always determined for a limited number of points. It was used for the first time in 1969 as a pure optimization algorithm making the regions of acceptability smaller and smaller (in analogy to simulated annealing, Kirkpatrick 1983). Since 1970 it has been used for both ordinary optimization and yield maximization. == Natural evolution and Gaussian adaptation == It has also been compared to the natural evolution of populations of living organisms. In this case s(x) is the probability that the individual having an array x of phenotypes will survive by giving offspring to the next generation; a definition of individual fitness given by Hartl 1981. The yield, P, is replaced by the mean fitness determined as a mean over the set of individuals in a large population. Phenotypes are often Gaussian distributed in a large population and a necessary condition for the natural evolution to be able to fulfill the theorem of Gaussian adaptation, with respect to all Gaussian quantitative characters, is that it may push the centre of gravity of the Gaussian to the centre of gravity of the selected individuals. This may be accomplished by the Hardy–Weinberg law. This is possible because the theorem of Gaussian adaptation is valid for any region of acceptability independent of the structure (Kjellström, 1996). In this case the rules of genetic variation such as crossover, inversion, transposition etcetera may be seen as random number generators for the phenotypes. So, in this sense Gaussian adaptation may be seen as a genetic algorithm. == How to climb a mountain == Mean fitness may be calculated provided that the distribution of parameters and the structure of the landscape is known. The real landscape is not known, but figure below shows a fictitious profile (blue) of a landscape along a line (x) in a room spanned by such parameters. The red curve is the mean based on the red bell curve at the bottom of figure. It is obtained by letting the bell curve slide along the x-axis, calculating the mean at every location. As can be seen, small peaks and pits are smoothed out. Thus, if evolution is started at A with a relatively small variance (the red bell curve), then climbing will take place on the red curve. The process may get stuck for millions of years at B or C, as long as the hollows to the right of these points remain, and the mutation rate is too small. If the mutation rate is sufficiently high, the disorder or variance may increase and the parameter(s) may become distributed like the green bell curve. Then the climbing will take place on the green curve, which is even more smoothed out. Because the hollows to the right of B and C have now disappeared, the process may continue up to the peaks at D. But of course the landscape puts a limit on the disorder or variability. Besides — dependent on the landscape — the process may become very jerky, and if the ratio between the time spent by the process at a local peak and the time of transition to the next peak is very high, it may as well look like a punctuated equilibrium as suggested by Gould (see Ridley). == Computer simulation of Gaussian adaptation == Thus far the theory only considers mean values of continuous distributions corresponding to an infinite number of individuals. In reality however, the number of individuals is always limited, which gives rise to an uncertainty in the estimation of m and M (the moment matrix of the Gaussian). And this may also affect the efficiency of the process. Unfortunately very little is known about this, at least theoretically. The implementation of normal adaptation on a computer is a fairly simple task. The adaptation of m may be done by one sample (individual) at a time, for example m(i + 1) = (1 – a) m(i) + ax where x is a pass sample, and a < 1 a suitable constant so that the inverse of a represents the number of individuals in the population. M may in principle be updated after every step y leading to a feasible point x = m + y according to: M(i + 1) = (1 – 2b) M(i) + 2byyT, where yT is the transpose of y and b << 1 is another suitable constant. In order to guarantee a suitable increase of average information, y should be normally distributed with moment matrix μ2M, where the scalar μ > 1 is used to increase average information (information entropy, disorder, diversity) at a suitable rate. But M will never be used in the calculations. Instead we use the matrix W defined by WWT = M. Thus, we have y = Wg, where g is normally distributed with the moment matrix μU, and U is the unit matrix. W and WT may be updated by the formulas W = (1 – b)W + bygT and WT = (1 – b)WT + bgyT because multiplication gives M = (1 – 2b)M + 2byyT, where terms including b2 have been neglected. Thus, M will be indirectly adapted with good approximation. In practice it will suffice to update W only W(i + 1) = (1 – b)W(i) + bygT. This is the formula used in a simple 2-dimensional model of a brain satisfying the Hebbian rule of associative learning; see the next section (Kjellström, 1996 and 1999). The figure below illustrates the effect of increased average information in a Gaussian p.d.f. used to climb a mountain Crest (the two lines represent the contour line). Both the red and green cluster have equal mean fitness, about 65%, but the green cluster has a much higher average information making the green process much more efficient. The effect of this adaptation is not very salient in a 2-dimensional case, but in a high-dimensional case, the efficiency of the search process may be increased by many orders of magnitude. == The evolution in the brain == In the brain the evolution of DNA-messages is supposed to be replaced by an evolution of signal patterns and the phenotypic landscape is replaced by a mental landscape, the complexity of which will hardly be second to the former. The metaphor with the mental landscape is based on the assumption that certain signal patterns give rise to a better well-being or performance. For instance, the control of a group of muscles leads to a better pronunciation of a word or performance of a piece of music. In this simple model it is assumed that the brain consists of interconnected components that may add, multiply and delay signal values. A nerve cell kernel may add signal values, a synapse may multiply with a constant and An axon may delay values. This is a basis of the theory of digital filters and neural networks consisting of components that may add, multiply and delay signalvalues and also of many brain models, Levine 1991. In the figure below the brain stem is supposed to deliver Gaussian distributed signal patterns. This may be possible since certai

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  • Markov blanket

    Markov blanket

    In statistics and machine learning, a Markov blanket of a random variable is a set of variables that renders the variable conditionally independent of all other variables in the system. This concept is central in probabilistic graphical models and feature selection. If a Markov blanket is minimal—meaning that no variable in it can be removed without losing this conditional independence—it is called a Markov boundary. Identifying a Markov blanket or boundary allows for efficient inference and helps isolate relevant variables for prediction or causal reasoning. The terms Markov blanket and Markov boundary were coined by Judea Pearl in 1988. A Markov blanket may be derived from the structure of a probabilistic graphical model such as a Bayesian network or Markov random field. == Definition == A Markov blanket of a random variable Y {\displaystyle Y} in a random variable set S = { X 1 , … , X n } {\displaystyle {\mathcal {S}}=\{X_{1},\ldots ,X_{n}\}} is any subset S 1 {\displaystyle {\mathcal {S}}_{1}} of S {\displaystyle {\mathcal {S}}} , conditioned on which other variables are independent with Y {\displaystyle Y} : Y ⊥ ⊥ S ∖ S 1 ∣ S 1 {\displaystyle Y\perp \!\!\!\perp {\mathcal {S}}\smallsetminus {\mathcal {S}}_{1}\mid {\mathcal {S}}_{1}} It means that S 1 {\displaystyle {\mathcal {S}}_{1}} contains at least all the information one needs to infer Y {\displaystyle Y} , where the variables in S ∖ S 1 {\displaystyle {\mathcal {S}}\smallsetminus {\mathcal {S}}_{1}} are redundant. In general, a given Markov blanket is not unique. Any set in S {\displaystyle {\mathcal {S}}} that contains a Markov blanket is also a Markov blanket itself. Specifically, S {\displaystyle {\mathcal {S}}} is a Markov blanket of Y {\displaystyle Y} in S {\displaystyle {\mathcal {S}}} . === Example === In a Bayesian network, the Markov blanket of a node consists of its parents, its children, and its children's other parents (i.e., co-parents). Knowing the values of these nodes makes the target node conditionally independent of the rest of the network. In a Markov random field, the Markov blanket of a node is simply its immediate neighbors. == Markov condition == The concept of a Markov blanket is rooted in the Markov condition, which states that in a probabilistic graphical model, each variable is conditionally independent of its non-descendants given its parents. This condition implies the existence of a minimal separating set — the Markov blanket — that shields a variable from the rest of the network. For instance, when a person holds an object stationary against gravity, the object’s acceleration is fully determined by its direct causes—namely, the upward force from the hand and the downward gravitational pull. Other variables such as air pressure or temperature are causally irrelevant. == Markov boundary == A Markov boundary of Y {\displaystyle Y} in S {\displaystyle {\mathcal {S}}} is a subset S 2 {\displaystyle {\mathcal {S}}_{2}} of S {\displaystyle {\mathcal {S}}} , such that S 2 {\displaystyle {\mathcal {S}}_{2}} itself is a Markov blanket of Y {\displaystyle Y} , but any proper subset of S 2 {\displaystyle {\mathcal {S}}_{2}} is not a Markov blanket of Y {\displaystyle Y} . In other words, a Markov boundary is a minimal Markov blanket. The Markov boundary of a node A {\displaystyle A} in a Bayesian network is the set of nodes composed of A {\displaystyle A} 's parents, A {\displaystyle A} 's children, and A {\displaystyle A} 's children's other parents. In a Markov random field, the Markov boundary for a node is the set of its neighboring nodes. In a dependency network, the Markov boundary for a node is the set of its parents. === Uniqueness of Markov boundary === The Markov boundary always exists. Under some mild conditions, the Markov boundary is unique. However, for most practical and theoretical scenarios multiple Markov boundaries may provide alternative solutions. When there are multiple Markov boundaries, quantities measuring causal effect could fail. == In cognitive science == In the study of consciousness, brain function, and complex adaptive systems, Markov blankets are proposed as a mathematical mechanism which delimits the extent of cognitive entities, whether it be physical or causal.

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  • Generalized blockmodeling of valued networks

    Generalized blockmodeling of valued networks

    Generalized blockmodeling of valued networks is an approach of the generalized blockmodeling, dealing with valued networks (e.g., non-binary). While the generalized blockmodeling signifies a "formal and integrated approach for the study of the underlying functional anatomies of virtually any set of relational data", it is in principle used for binary networks. This is evident from the set of ideal blocks, which are used to interpret blockmodels, that are binary, based on the characteristic link patterns. Because of this, such templates are "not readily comparable with valued empirical blocks". To allow generalized blockmodeling of valued directional (one-mode) networks (e.g. allowing the direct comparisons of empirical valued blocks with ideal binary blocks), a non–parametric approach is used. With this, "an optional parameter determines the prominence of valued ties as a minimum percentile deviation between observed and expected flows". Such two–sided application of parameter then introduces "the possibility of non–determined ties, i.e. valued relations that are deemed neither prominent (1) nor non–prominent (0)." Resulted occurrences of links then motivate the modification of the calculation of inconsistencies between empirical and ideal blocks. At the same time, such links also give a possibility to measure the interpretational certainty, which is specific to each ideal block. Such maximum two–sided deviation threshold, holding the aggregate uncertainty score at zero or near–zero levels, is then proposed as "a measure of interpretational certainty for valued blockmodels, in effect transforming the optional parameter into an outgoing state". Problem with blockmodeling is the standard set of ideal block, as they are all specified using binary link (tie) patters; this results in "a non–trivial exercise to match and count inconsistencies between such ideal binary ties and empirical valued ties". One approach to solve this is by using dichotomization to transform the network into a binary version. The other two approaches were first proposed by Aleš Žiberna in 2007 by introducing valued (generalized) blockmodeling and also homogeneity blockmodeling. The basic idea of the latter is "that the inconsistency of an empirical block with its ideal block can be measured by within block variability of appropriate values". The newly–formed ideal blocks, which are appropriate for blockmodeling of valued networks, are then presented together with the definitions of their block inconsistencies. Two other approaches were later suggested by Carl Nordlund in 2019: deviational approach and correlation-based generalized approach. Both Nordlund's approaches are based on the idea, that valued networks can be compared with the ideal block without values. With this approach, more information is retained for analysis, which also means, that there are fewer partitions having identical values of the criterion function. This means, that the generalized blockmodeling of valued networks measures the inconsistencies more precisely. Usually, only one optimal partition is found in this approach, especially when it is used by homogeneity blockmodeling. Contrary, while using binary blockmodeling on the same sample, usually more than one optimal partition had occurred on several occasions.

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  • Neural radiance field

    Neural radiance field

    A neural radiance field (NeRF) is a neural field for reconstructing a three-dimensional representation of a scene from two-dimensional images. The NeRF model enables downstream applications of novel view synthesis, scene geometry reconstruction, and obtaining the reflectance properties of the scene. Additional scene properties such as camera poses may also be jointly learned. First introduced in 2020, it has since gained significant attention for its potential applications in computer graphics and content creation. == Algorithm == The NeRF algorithm represents a scene as a radiance field parametrized by a deep neural network (DNN). The network predicts a volume density and view-dependent emitted radiance given the spatial location ( x , y , z ) {\displaystyle (x,y,z)} and viewing direction in Euler angles ( θ , Φ ) {\displaystyle (\theta ,\Phi )} of the camera. By sampling many points along camera rays, traditional volume rendering techniques can produce an image. === Data collection === A NeRF needs to be retrained for each unique scene. The first step is to collect images of the scene from different angles and their respective camera pose. These images are standard 2D images and do not require a specialized camera or software. Any camera is able to generate datasets, provided the settings and capture method meet the requirements for SfM (Structure from Motion). This requires tracking of the camera position and orientation, often through some combination of SLAM, GPS, or inertial estimation. Researchers often use synthetic data to evaluate NeRF and related techniques. For such data, images (rendered through traditional non-learned methods) and respective camera poses are reproducible and error-free. === Training === For each sparse viewpoint (image and camera pose) provided, camera rays are marched through the scene, generating a set of 3D points with a given radiance direction (into the camera). For these points, volume density and emitted radiance are predicted using the multi-layer perceptron (MLP). An image is then generated through classical volume rendering. Because this process is fully differentiable, the error between the predicted image and the original image can be minimized with gradient descent over multiple viewpoints, encouraging the MLP to develop a coherent model of the scene. == Variations and improvements == Early versions of NeRF were slow to optimize and required that all input views were taken with the same camera in the same lighting conditions. These performed best when limited to orbiting around individual objects, such as a drum set, plants or small toys. Since the original paper in 2020, many improvements have been made to the NeRF algorithm, with variations for special use cases. === Fourier feature mapping === In 2020, shortly after the release of NeRF, the addition of Fourier Feature Mapping improved training speed and image accuracy. Deep neural networks struggle to learn high frequency functions in low dimensional domains; a phenomenon known as spectral bias. To overcome this shortcoming, points are mapped to a higher dimensional feature space before being fed into the MLP. γ ( v ) = [ a 1 cos ⁡ ( 2 π B 1 T v ) a 1 sin ⁡ ( 2 π B 1 T v ) ⋮ a m cos ⁡ ( 2 π B m T v ) a m sin ⁡ ( 2 π B m T v ) ] {\displaystyle \gamma (\mathrm {v} )={\begin{bmatrix}a_{1}\cos(2{\pi }{\mathrm {B} }_{1}^{T}\mathrm {v} )\\a_{1}\sin(2\pi {\mathrm {B} }_{1}^{T}\mathrm {v} )\\\vdots \\a_{m}\cos(2{\pi }{\mathrm {B} }_{m}^{T}\mathrm {v} )\\a_{m}\sin(2{\pi }{\mathrm {B} }_{m}^{T}\mathrm {v} )\end{bmatrix}}} Where v {\displaystyle \mathrm {v} } is the input point, B i {\displaystyle \mathrm {B} _{i}} are the frequency vectors, and a i {\displaystyle a_{i}} are coefficients. This allows for rapid convergence to high frequency functions, such as pixels in a detailed image. === Bundle-adjusting neural radiance fields === One limitation of NeRFs is the requirement of knowing accurate camera poses to train the model. Often times, pose estimation methods are not completely accurate, nor is the camera pose even possible to know. These imperfections result in artifacts and suboptimal convergence. So, a method was developed to optimize the camera pose along with the volumetric function itself. Called Bundle-Adjusting Neural Radiance Field (BARF), the technique uses a dynamic low-pass filter (DLPF) to go from coarse to fine adjustment, minimizing error by finding the geometric transformation to the desired image. This corrects imperfect camera poses and greatly improves the quality of NeRF renders. === Multiscale representation === Conventional NeRFs struggle to represent detail at all viewing distances, producing blurry images up close and overly aliased images from distant views. In 2021, researchers introduced a technique to improve the sharpness of details at different viewing scales known as mip-NeRF (comes from mipmap). Rather than sampling a single ray per pixel, the technique fits a gaussian to the conical frustum cast by the camera. This improvement effectively anti-aliases across all viewing scales. mip-NeRF also reduces overall image error and is faster to converge at about half the size of ray-based NeRF. === Learned initializations === In 2021, researchers applied meta-learning to assign initial weights to the MLP. This rapidly speeds up convergence by effectively giving the network a head start in gradient descent. Meta-learning also allowed the MLP to learn an underlying representation of certain scene types. For example, given a dataset of famous tourist landmarks, an initialized NeRF could partially reconstruct a scene given one image. === NeRF in the wild === Conventional NeRFs are vulnerable to slight variations in input images (objects, lighting) often resulting in ghosting and artifacts. As a result, NeRFs struggle to represent dynamic scenes, such as bustling city streets with changes in lighting and dynamic objects. In 2021, researchers at Google developed a new method for accounting for these variations, named NeRF in the Wild (NeRF-W). This method splits the neural network (MLP) into three separate models. The main MLP is retained to encode the static volumetric radiance. However, it operates in sequence with a separate MLP for appearance embedding (changes in lighting, camera properties) and an MLP for transient embedding (changes in scene objects). This allows the NeRF to be trained on diverse photo collections, such as those taken by mobile phones at different times of day. === Relighting === In 2021, researchers added more outputs to the MLP at the heart of NeRFs. The output now included: volume density, surface normal, material parameters, distance to the first surface intersection (in any direction), and visibility of the external environment in any direction. The inclusion of these new parameters lets the MLP learn material properties, rather than pure radiance values. This facilitates a more complex rendering pipeline, calculating direct and global illumination, specular highlights, and shadows. As a result, the NeRF can render the scene under any lighting conditions with no re-training. === Plenoctrees === Although NeRFs had reached high levels of fidelity, their costly compute time made them useless for many applications requiring real-time rendering, such as VR/AR and interactive content. Introduced in 2021, Plenoctrees (plenoptic octrees) enabled real-time rendering of pre-trained NeRFs through division of the volumetric radiance function into an octree. Rather than assigning a radiance direction into the camera, viewing direction is taken out of the network input and spherical radiance is predicted for each region. This makes rendering over 3000x faster than conventional NeRFs. === Sparse Neural Radiance Grid === Similar to Plenoctrees, this method enabled real-time rendering of pretrained NeRFs. To avoid querying the large MLP for each point, this method bakes NeRFs into Sparse Neural Radiance Grids (SNeRG). A SNeRG is a sparse voxel grid containing opacity and color, with learned feature vectors to encode view-dependent information. A lightweight, more efficient MLP is then used to produce view-dependent residuals to modify the color and opacity. To enable this compressive baking, small changes to the NeRF architecture were made, such as running the MLP once per pixel rather than for each point along the ray. These improvements make SNeRG extremely efficient, outperforming Plenoctrees. === Instant NeRFs === In 2022, researchers at Nvidia enabled real-time training of NeRFs through a technique known as Instant Neural Graphics Primitives. An innovative input encoding reduces computation, enabling real-time training of a NeRF, an improvement orders of magnitude above previous methods. The speedup stems from the use of spatial hash functions, which have O ( 1 ) {\displaystyle O(1)} access times, and parallelized architectures which run fast on modern GPUs. == Related techniques == === Plenoxels === Plen

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  • Structured kNN

    Structured kNN

    Structured k-nearest neighbours (SkNN) is a machine learning algorithm that generalizes k-nearest neighbors (k-NN). k-NN supports binary classification, multiclass classification, and regression, whereas SkNN allows training of a classifier for general structured output. For instance, a data sample might be a natural language sentence, and the output could be an annotated parse tree. Training a classifier consists of showing many instances of ground truth sample-output pairs. After training, the SkNN model is able to predict the corresponding output for new, unseen sample instances; that is, given a natural language sentence, the classifier can produce the most likely parse tree. == Training == As a training set, SkNN accepts sequences of elements with class labels. The type of element does not matter; the only requirement is a defined metric function that gives a distance between each pair of elements of a set. SkNN is based on idea of creating a graph, with each node representing a class label. There is an edge between a pair of nodes if there is a sequence of two elements in the training set with corresponding classes. The first step of SkNN training is the construction of such a graph from training sequences. There are two special nodes in the graph corresponding to sentence beginnings and ends: if a sequence starts with class C, the edge between node START and node C should be created. Like regular k-NN, the second part of SkNN training consists of storing the elements of a training sequence in a certain way. Each element of the training sequences is stored in the node related to the class of the previous element in the sequence. Every first element is stored in the START node. == Inference == Labelling input sequences by SkNN consists of finding the sequence of transitions in the graph, starting from node START. Each transition corresponds to a single element of the input sequence. As a result, the label of each element is determined as the target node label of the transition. The cost of the path is defined as the sum of all transitions, with the cost of transition from node A to node B being the distance from the current input sequence element to the nearest element of class B, stored in node A. Determining an optimal path may be performed using a modified Viterbi algorithm (where the sum of the distances is minimized, unlike the original algorithm which maximizes the product of probabilities).

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  • Density-based clustering validation

    Density-based clustering validation

    Density-Based Clustering Validation (DBCV) is a metric designed to assess the quality of clustering solutions, particularly for density-based clustering algorithms like DBSCAN, Mean shift, and OPTICS. This metric is particularly suited for identifying concave and nested clusters, where traditional metrics such as the Silhouette coefficient, Davies–Bouldin index, or Calinski–Harabasz index often struggle to provide meaningful evaluations. Unlike traditional validation measures, which often rely on compact and well-separated clusters, DBCV index evaluates how well clusters are defined in terms of local density variations and structural coherence. This metric was introduced in 2014 by David Moulavi and colleagues in their work. It utilizes density connectivity principles to quantify clustering structures, making it especially effective at detecting arbitrarily shaped clusters in concave datasets, where traditional metrics may be less reliable. The DBCV index has been employed for clustering analysis in bioinformatics, ecology, techno-economy, and health informatics , as well as in numerous other fields. == Definition == DBCV index evaluates clustering structures by analyzing the relationships between data points within and across clusters. Given a dataset X = x 1 , x 2 , . . . , x n {\displaystyle X={x_{1},x_{2},...,x_{n}}} , a density-based algorithm partitions it into K clusters C 1 , C 2 , . . . , C K {\displaystyle {C_{1},C_{2},...,C_{K}}} . Each point x i {\displaystyle x_{i}} belongs to a specific cluster, denoted as C c l u s t e r ( x i ) {\displaystyle C_{cluster(x_{i})}} A key concept in DBCV index is the notion of density-connected paths. Two points within the same cluster are considered density-connected if there exists a sequence of intermediate points linking them, where each consecutive pair meets a predefined density criterion. The density-based distance between two points is determined by identifying the optimal path that minimizes the maximum local reachability distance along its trajectory. DBCV index extends the Silhouette coefficient by redefining cluster cohesion and separation using density-based distances: Within-cluster density distance measures how closely a point is related to other members of its cluster: a i = 1 | C c l u s t e r ( x i ) | − 1 ∑ x j ∈ C c l u s t e r ( x i ) , y ≠ x d d e n s i t y ( x j , x i ) {\displaystyle a_{i}={\frac {1}{|C_{cluster(x_{i})}|-1}}\sum _{x_{j}\in C_{cluster(x_{i})},y\neq x}d_{density}(x_{j},x_{i})} Nearest-cluster density distance quantifies how far a point is from the closest external cluster: b i = min C ≠ C cluster ( x i ) C ∈ { C 1 , … , C K } ( 1 | C | ∑ x j ∈ C d density ( x i , x j ) ) . {\displaystyle b_{i}=\min _{C\neq C_{{\text{cluster}}(x_{i})} \atop C\in \{C_{1},\dots ,C_{K}\}}\left({\frac {1}{|C|}}\sum _{x_{j}\in C}d_{\text{density}}(x_{i},x_{j})\right).} Using these measures, the DBCV index is computed as: D B C V = 1 n ∑ i = 1 n b i − a i max ( a i , b i ) {\displaystyle DBCV={\frac {1}{n}}\sum _{i=1}^{n}{\frac {b_{i}-a_{i}}{\max(a_{i},b_{i})}}} == Explanation == DBCV index values range between −1 and +1: +1: Strongly cohesive and well-separated clusters. 0: Ambiguous clustering structure. −1: Poorly formed clusters or incorrect assignments. By leveraging density-based distances instead of traditional Euclidean measures, DBCV index provides a more robust evaluation of clustering performance in datasets with irregular or non-spherical distributions.

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