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**1 - 5**of**5**### Spatial Mixture Modelling for Unobserved Point Processes: Examples

, 2009

"... We discuss Bayesian modelling and computational methods in analysis of indirectly observed spatial point processes. The context involves noisy measurements on an underlying point process that provide indirect and noisy data on locations of point outcomes. We are interested in problems in which the s ..."

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We discuss Bayesian modelling and computational methods in analysis of indirectly observed spatial point processes. The context involves noisy measurements on an underlying point process that provide indirect and noisy data on locations of point outcomes. We are interested in problems in which the spatial intensity function may be highly heterogenous, and so is modelled via flexible nonparametric Bayesian mixture models. Analysis aims to estimate the underlying intensity function and the abundance of realized but unobserved points. Our motivating applications involve immunological studies of multiple fluorescent intensity images in sections of lymphatic tissue where the point processes represent geographical configurations of cells. We are interested in estimating intensity functions and cell abundance for each of a series of such data sets to facilitate comparisons of outcomes at different times and with respect to differing experimental conditions. The analysis is heavily computational, utilizing recently introduced MCMC approaches for spatial point process mixtures and extending them to the broader new context here of unobserved outcomes. Further, our example applications are problems in which the individual objects of interest are not simply points, but rather small groups of pixels; this

### Coherent psychometric modelling with Bayesian nonparametrics

"... In this paper we argue that model selection, as commonly practised in psychometrics, violates certain principles of coherence. On the other hand, we show that Bayesian nonparametrics provides a coherent basis for model selection, through the use of a ‘nonparametric ’ prior distribution that has a la ..."

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In this paper we argue that model selection, as commonly practised in psychometrics, violates certain principles of coherence. On the other hand, we show that Bayesian nonparametrics provides a coherent basis for model selection, through the use of a ‘nonparametric ’ prior distribution that has a large support on the space of sampling distributions. We illustrate model selection under the Bayesian nonparametric approach, through the analysis of real questionnaire data. Also, we present ways to use the Bayesian nonparametric framework to define very flexible psychometric models, through the specification of a nonparametric prior distribution that supports all distribution functions for the inverse link, including the standard logistic distribution functions. The Bayesian nonparametric approach provides a coherent method for model selection that can be applied to any statistical model, including psychometric models. Moreover, under a ‘non-informative ’ choice of nonparametric prior, the Bayesian nonparametric approach is easy to apply, and selects the model that maximizes the log likelihood. Thus, under this choice of prior, the approach can be extended to non-Bayesian settings where the parameters of the competing models are estimated by likelihood maximization, and it can be used with any psychometric software package that routinely reports the model log likelihood. 1.

### A TELEOLOGICAL APPROACH TO ROBOT PROGRAMMING BY DEMONSTRATION

, 2010

"... This dissertation presents an approach to robot programming by demonstration based on two key concepts: demonstrator intent is the most meaningful signal that the robot can observe, and the robot should have a basic level of behavioral competency from which to interpret observed actions. Intent is a ..."

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This dissertation presents an approach to robot programming by demonstration based on two key concepts: demonstrator intent is the most meaningful signal that the robot can observe, and the robot should have a basic level of behavioral competency from which to interpret observed actions. Intent is a teleological, robust teaching signal invariant to many common sources of noise in training. The robot can use the knowledge encapsulated in sensorimotor schemas to interpret the demonstration. Furthermore, knowledge gained in prior demonstrations can be applied to future sessions. I argue that programming by demonstration be organized into declarative and procedural components. The declarative component represents a reusable outline of underlying behavior that can be applied to many different contexts. The procedural component represents the dynamic portion of the task that is based on features observed at run time. I describe how statistical models, and Bayesian methods in particular, can be used to model these components. These models have many features that are beneficial for learning in this domain, such as tolerance for uncertainty, and the ability to incorporate prior knowledge into inferences. I demonstrate this architecture through experiments on a bimanual humanoid robot using tasks from the pick and place domain.

### Improving Search Engines via Classification

, 2011

"... This thesis is the result of my own work, except where explicitly acknowledge in the text. ..."

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This thesis is the result of my own work, except where explicitly acknowledge in the text.

### Statistical Equivalent Models for Computer Simulators with an Application to the Random Waypoint Mobility Model Kumar Viswanath

"... Statistical Equivalent Models, or SEMs, have recently been proposed as a general approach to study computer simulators. By fitting a statistical model to the simulator’s output, SEMs provide an efficient way to quickly explore the simulator’s result. In this paper, we develop a SEM for random waypoi ..."

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Statistical Equivalent Models, or SEMs, have recently been proposed as a general approach to study computer simulators. By fitting a statistical model to the simulator’s output, SEMs provide an efficient way to quickly explore the simulator’s result. In this paper, we develop a SEM for random waypoint mobility, one of the most widely used mobility models employed by network simulators in the evaluation of communication protocols for wireless multi-hop ad hoc networks (MANETs). We chose the random waypoint mobility model as a case study of SEMs due to recent results pointing out some serious drawbacks of the model (e.g., [1]). In particular, these studies show that, under the random waypoint mobility regime, average node speed tends to zero in steady state. They also show that average node speed varies considerably from the expected average value for the time scales under consideration in most simulation analysis. In order to investigate further the behavior of the random waypoint model, we developed a SEM that captured speed decay over time under random waypoint mobility using maximum speed and terrain size as input parameters. A Bayesian approach to model fitting was employed to capture the uncertainty due to unknown parameters of the statistical model. The SEM is given by the posterior predictive distributions of the average node speed as a function of time. A direct result from our model is that, by characterizing average node