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77
Dual decomposition for parsing with nonprojective head automata
 In Proc. of EMNLP
, 2010
"... This paper introduces algorithms for nonprojective parsing based on dual decomposition. We focus on parsing algorithms for nonprojective head automata, a generalization of headautomata models to nonprojective structures. The dual decomposition algorithms are simple and efficient, relying on standa ..."
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Cited by 101 (16 self)
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This paper introduces algorithms for nonprojective parsing based on dual decomposition. We focus on parsing algorithms for nonprojective head automata, a generalization of headautomata models to nonprojective structures. The dual decomposition algorithms are simple and efficient, relying on standard dynamic programming and minimum spanning tree algorithms. They provably solve an LP relaxation of the nonprojective parsing problem. Empirically the LP relaxation is very often tight: for many languages, exact solutions are achieved on over 98 % of test sentences. The accuracy of our models is higher than previous work on a broad range of datasets. 1
An Introduction to Conditional Random Fields
 Foundations and Trends in Machine Learning
, 2012
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Stacked Hierarchical Labeling
"... Abstract. In this work we propose a hierarchical approach for labeling semantic objects and regions in scenes. Our approach is reminiscent of early vision literature in that we use a decomposition of the image in order to encode relational and spatial information. In contrast to much existing work o ..."
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Cited by 63 (17 self)
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Abstract. In this work we propose a hierarchical approach for labeling semantic objects and regions in scenes. Our approach is reminiscent of early vision literature in that we use a decomposition of the image in order to encode relational and spatial information. In contrast to much existing work on structured prediction for scene understanding, we bypass a global probabilistic model and instead directly train a hierarchical inference procedure inspired by the message passing mechanics of some approximate inference procedures in graphical models. This approach mitigates both the theoretical and empirical difficulties of learning probabilistic models when exact inference is intractable. In particular, we draw from recent work in machine learning and break the complex inference process into a hierarchical series of simple machine learning subproblems. Each subproblem in the hierarchy is designed to capture the image and contextual statistics in the scene. This hierarchy spans coarsetofine regions and explicitly models the mixtures of semantic labels that may be present due to imperfect segmentation. To avoid cascading of errors and overfitting, we train the learning problems in sequence to ensure robustness to likely errors earlier in the inference sequence and leverage the stacking approach developed by Cohen et al. 1
Learning to Search: Functional Gradient Techniques for Imitation Learning
 Autonomous Robots
, 2009
"... Programming robot behavior remains a challenging task. While it is often easy to abstractly define or even demonstrate a desired behavior, designing a controller that embodies the same behavior is difficult, time consuming, and ultimately expensive. The machine learning paradigm offers the promise o ..."
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Cited by 60 (19 self)
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Programming robot behavior remains a challenging task. While it is often easy to abstractly define or even demonstrate a desired behavior, designing a controller that embodies the same behavior is difficult, time consuming, and ultimately expensive. The machine learning paradigm offers the promise of enabling “programming by demonstration ” for developing highperformance robotic systems. Unfortunately, many “behavioral cloning ” (Bain & Sammut, 1995; Pomerleau, 1989; LeCun et al., 2006) approaches that utilize classical tools of supervised learning (e.g. decision trees, neural networks, or support vector machines) do not fit the needs of modern robotic systems. These systems are often built atop sophisticated planning algorithms that efficiently reason far into the future; consequently, ignoring these planning algorithms in lieu of a supervised learning approach often leads to myopic and poorquality robot performance. While planning algorithms have shown success in many realworld applications ranging from legged locomotion (Chestnutt et al., 2003) to outdoor unstructured navigation (Kelly et al., 2004; Stentz, 2009), such algorithms rely on fully specified cost functions that map sensor readings and environment models to quantifiable costs. Such cost functions are usually manually designed and programmed. Recently, a set of techniques has been developed that explore learning these functions from expert human demonstration.
Structured learning and prediction in computer vision
 IN FOUNDATIONS AND TRENDS IN COMPUTER GRAPHICS AND VISION
, 2010
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Learning Efficiently with Approximate Inference via Dual Losses
"... Many structured prediction tasks involve complex models where inference is computationally intractable, but where it can be well approximated using a linear programming relaxation. Previous approaches for learning for structured prediction (e.g., cuttingplane, subgradient methods, perceptron) repeat ..."
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Cited by 38 (7 self)
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Many structured prediction tasks involve complex models where inference is computationally intractable, but where it can be well approximated using a linear programming relaxation. Previous approaches for learning for structured prediction (e.g., cuttingplane, subgradient methods, perceptron) repeatedly make predictions for some of the data points. These approaches are computationally demanding because each prediction involves solving a linear program to optimality. We present a scalable algorithm for learning for structured prediction. The main idea is to instead solve the dual of the structured prediction loss. We formulate the learning task as a convex minimization over both the weights and the dual variables corresponding to each data point. As a result, we can begin to optimize the weights even before completely solving any of the individual prediction problems. We show how the dual variables can be efficiently optimized using coordinate descent. Our algorithm is competitive with stateoftheart methods such as stochastic subgradient and cuttingplane. 1.
Learning in markov random fields using tempered transitions
 In Advances in Neural Information Processing Systems
"... Markov random fields (MRF’s), or undirected graphical models, provide a powerful framework for modeling complex dependencies among random variables. Maximum likelihood learning in MRF’s is hard due to the presence of the global normalizing constant. In this paper we consider a class of stochastic ap ..."
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Cited by 36 (2 self)
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Markov random fields (MRF’s), or undirected graphical models, provide a powerful framework for modeling complex dependencies among random variables. Maximum likelihood learning in MRF’s is hard due to the presence of the global normalizing constant. In this paper we consider a class of stochastic approximation algorithms of the RobbinsMonro type that use Markov chain Monte Carlo to do approximate maximum likelihood learning. We show that using MCMC operators based on tempered transitions enables the stochastic approximation algorithm to better explore highly multimodal distributions, which considerably improves parameter estimates in large, denselyconnected MRF’s. Our results on MNIST and NORB datasets demonstrate that we can successfully learn good generative models of highdimensional, richly structured data that perform well on digit and object recognition tasks. 1
3D Scene Analysis via Sequenced Predictions over Points and Regions
"... Abstract — We address the problem of understanding scenes from 3D laser scans via perpoint assignment of semantic labels. In order to mitigate the difficulties of using a graphical model for modeling the contextual relationships among the 3D points, we instead propose a multistage inference proc ..."
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Cited by 32 (4 self)
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Abstract — We address the problem of understanding scenes from 3D laser scans via perpoint assignment of semantic labels. In order to mitigate the difficulties of using a graphical model for modeling the contextual relationships among the 3D points, we instead propose a multistage inference procedure to capture these relationships. More specifically, we train this procedure to use point cloud statistics and learn relational information (e.g., treetrunks are below vegetation) over fine (pointwise) and coarse (regionwise) scales. We evaluate our approach on three different datasets, that were obtained from different sensors, and demonstrate improved performance. I.
Empirical Risk Minimization of Graphical Model Parameters Given Approximate Inference, Decoding, and Model Structure
"... Graphical models are often used “inappropriately,” with approximations in the topology, inference, and prediction. Yet it is still common to train their parameters to approximately maximize training likelihood. We argue that instead, one should seek the parameters that minimize the empirical risk of ..."
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Cited by 30 (6 self)
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Graphical models are often used “inappropriately,” with approximations in the topology, inference, and prediction. Yet it is still common to train their parameters to approximately maximize training likelihood. We argue that instead, one should seek the parameters that minimize the empirical risk of the entire imperfect system. We show how to locally optimize this risk using backpropagation and stochastic metadescent. Over a range of syntheticdata problems, compared to the usual practice of choosing approximate MAP parameters, our approach significantly reduces loss on test data, sometimes by an order of magnitude. 1