ML

Types of Machine Learning
Machine Learning
Special thanks to F. Hoffmann, T. Mitchell, D. Miller, H. Foundalis, R Mooney

Today
• Introduction to machine learning (ML)
– Definitions/theory
– Why important
– How is ML used
• What is learning
– Relation to animal/human learning
• Impact on information science

Theories in Information Sciences
• Issues:
– Unified theory? Maybe AI
– Domain of applicability – interactions with the real world
– Conflicts – ML versus human learning
• Theories here are
– Mostly algorithmic
– Some quantitative
• Quality of theories
– Occam’s razor – simplest ML method
– Subsumption of other theories (AI vs ML)
– ML very very popular in real world applications
• ML can be used in nearly every topic involving data that we discuss
• Theories of ML
– Cognitive vs computational
– Mathematical

What is Machine Learning?
Aspect of AI: creates knowledge
Definition:
“changes in [a] system that ... enable [it] to do the same
task or tasks drawn from the same population more
efficiently and more effectively the next time.'' (Simon
1983)
There are two ways that a system can improve:
1. By acquiring new knowledge
– acquiring new facts
– acquiring new skills
2. By adapting its behavior
– solving problems more accurately
– solving problems more efficiently

5
What is Learning?
• Herbert Simon: “Learning is any process
by which a system improves performance
from experience.”
• What is the task?
– Classification
– Categorization/clustering
– Problem solving / planning / control
– Prediction
– others

6
Why Study Machine Learning?
Developing Better Computing Systems
• Develop systems that are too difficult/expensive to
construct manually because they require specific
detailed skills or knowledge tuned to a specific task
(knowledge engineering bottleneck).
• Develop systems that can automatically adapt and
customize themselves to individual users.
– Personalized news or mail filter
– Personalized tutoring
• Discover new knowledge from large databases (data
mining).
– Market basket analysis (e.g. diapers and beer)
– Medical text mining (e.g. migraines to calcium channel blockers
to magnesium)

7
Related Disciplines
• Artificial Intelligence
• Data Mining
• Probability and Statistics
• Information theory
• Numerical optimization
• Computational complexity theory
• Control theory (adaptive)
• Psychology (developmental, cognitive)
• Neurobiology
• Linguistics
• Philosophy

Human vs machine learning
• Cognitive science vs computational
science
– Animal learning vs machine learning
• Don’t fly like birds
– Many ML models are based on human types
of learning
• Evolution vs machine learning
– Adaptation vs learning

Adaptive vs machine learning
• An adaptive system is a set of interacting or interdependent entities,
real or abstract, forming an integrated whole that together are able
to respond to environmental changes or changes in the interacting
parts. Feedback loops represent a key feature of adaptive systems,
allowing the response to changes; examples of adaptive systems
include: natural ecosystems, individual organisms, human
communities, human organizations, and human families.
• Some artificial systems can be adaptive as well; for instance, robots
employ control systems that utilize feedback loops to sense new
conditions in their environment and adapt accordingly.

Types of Learning
• Induction vs deduction
• Rote learning (memorization)
• Advice or instructional learning
• Learning by example or practice
– Most popular; many applications
• Learning by analogy; transfer learning
• Discovery learning
• Others?

Levels of Learning
Training
Many learning methods involve training
• Training is the acquisition of knowledge, skills, and
competencies as a result of the teaching of vocational or
practical skills and knowledge that relate to specific
useful competencies (wikipedia).
• Training requires scenarios or examples (data)

Types of training experience
• Direct or indirect
• With a teacher or without a teacher
• An eternal problem:
– Make the training experience representative
of the performance goal

Types of training
• Supervised learning: uses a series of
labelled examples with direct feedback
• Reinforcement learning: indirect feedback,
after many examples
• Unsupervised/clustering learning: no
feedback
• Semisupervised

Types of testing
• Evaluate performance by testing on data
NOT used for testing (both should be
randomly sampled)
• Cross validation methods for small data
sets
• The more (relevant) data the better.

Testing
• How well the learned system work?
• Generalization
– Performance on unseen or unknown
scenarios or data
– Brittle vs robust performance

Which of these things is NOT
like the others?

Which of these things is like the
others? And how?

Bongard problems
Index of Bongard Problems
- visual pattern rule induction

Usual ML stages
• Hypothesis, data
• Training or learning
• Testing or generalization

Why is machine learning
necessary?
• learning is a hallmark of intelligence; many
would argue that a system that cannot learn is
not intelligent.
• without learning, everything is new; a system
that cannot learn is not efficient because it
rederives each solution and repeatedly makes
the same mistakes.
Why is learning possible?
Because there are regularities in the world.

Different Varieties of Machine
Learning
• Concept Learning
• Clustering Algorithms
• Connectionist Algorithms
• Genetic Algorithms
• Explanation-based Learning
• Transformation-based Learning
• Reinforcement Learning
• Case-based Learning
• Macro Learning
• Evaluation Functions
• Cognitive Learning Architectures
• Constructive Induction
• Discovery Systems
• Knowledge capture

Many online software packages &
datasets
• Data sets
• UC Irvine
• http://www.kdnuggets.com/datasets/index.html
• Software (much related to data mining)
• JMIR Open Source
• Weka
• Shogun
• RapidMiner
• ODM
• Orange
• CMU
• Several researchers put their software online

Defining the Learning Task
Improve on task, T, with respect to
performance metric, P, based on experience, E.
T: Playing checkers
P: Percentage of games won against an arbitrary opponent
E: Playing practice games against itself
T: Recognizing hand-written words
P: Percentage of words correctly classified
E: Database of human-labeled images of handwritten words
T: Driving on four-lane highways using vision sensors
P: Average distance traveled before a human-judged error
E: A sequence of images and steering commands recorded while
observing a human driver.
T: Categorize email messages as spam or legitimate.
P: Percentage of email messages correctly classified.
E: Database of emails, some with human-given labels

Designing a Learning System
• Choose the training experience
• Choose exactly what is too be learned, i.e.
the target function.
• Choose how to represent the target function.
• Choose a learning algorithm to infer the
target function from the experience.
Environment/
Experience
Learner
Knowledge
Performance
Element

Sample Learning Problem
• Learn to play checkers from self-play
• Develop an approach analogous to that
used in the first machine learning system
developed by Arthur Samuels at IBM in
1959.

Training Experience
• Direct experience: Given sample input and
output pairs for a useful target function.
– Checker boards labeled with the correct move, e.g.
extracted from record of expert play
• Indirect experience: Given feedback which is not
direct I/O pairs for a useful target function.
– Potentially arbitrary sequences of game moves and
their final game results.
• Credit/Blame Assignment Problem: How to
assign credit blame to individual moves given
only indirect feedback?

Source of Training Data
• Provided random examples outside of the
learner’s control.
– Negative examples available or only positive?
• Good training examples selected by a
“benevolent teacher.”
– “Near miss” examples
• Learner can query an oracle about class of an
unlabeled example in the environment.
• Learner can construct an arbitrary example and
query an oracle for its label.
• Learner can design and run experiments
directly in the environment without any human
guidance.

Training vs. Test Distribution
• Generally assume that the training and
test examples are independently drawn
from the same overall distribution of data.
– IID: Independently and identically distributed
• If examples are not independent, requires
collective classification.
• If test distribution is different, requires
transfer learning.

Choosing a Target Function
• What function is to be learned and how will it be
used by the performance system?
• For checkers, assume we are given a function
for generating the legal moves for a given board
position and want to decide the best move.
– Could learn a function:
ChooseMove(board, legal-moves) → best-move
– Or could learn an evaluation function, V(board) →
R, that gives each board position a score for how
favorable it is. V can be used to pick a move by
applying each legal move, scoring the resulting
board position, and choosing the move that results in
the highest scoring board position.

Ideal Definition of V(b)
• If b is a final winning board, then V(b) = 100
• If b is a final losing board, then V(b) = –100
• If b is a final draw board, then V(b) = 0
• Otherwise, then V(b) = V(b´), where b´ is the
highest scoring final board position that is
achieved starting from b and playing optimally
until the end of the game (assuming the
opponent plays optimally as well).
– Can be computed using complete mini-max search
of the finite game tree.

Approximating V(b)
• Computing V(b) is intractable since it
involves searching the complete
exponential game tree.
• Therefore, this definition is said to be non-
operational.
• An operational definition can be
computed in reasonable (polynomial) time.
• Need to learn an operational
approximation to the ideal evaluation
function.

Representing the Target
Function
• Target function can be represented in many
ways: lookup table, symbolic rules, numerical
function, neural network.
• There is a trade-off between the expressiveness
of a representation and the ease of learning.
• The more expressive a representation, the
better it will be at approximating an arbitrary
function; however, the more examples will be
needed to learn an accurate function.

Linear Function for
Representing V(b)
• In checkers, use a linear approximation of the
evaluation function.
– bp(b): number of black pieces on board b
– rp(b): number of red pieces on board b
– bk(b): number of black kings on board b
– rk(b): number of red kings on board b
– bt(b): number of black pieces threatened (i.e. which
can be immediately taken by red on its next turn)
– rt(b): number of red pieces threatened
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Obtaining Training Values
• Direct supervision may be available for the
target function.
– < <bp=3,rp=0,bk=1,rk=0,bt=0,rt=0>, 100>
(win for black)
• With indirect feedback, training values can
be estimated using temporal difference
learning (used in reinforcement learning
where supervision is delayed reward).

Temporal Difference Learning
• Estimate training values for intermediate (non-
terminal) board positions by the estimated
value of their successor in an actual game
trace.
where successor(b) is the next board position
where it is the program’s move in actual play.
• Values towards the end of the game are
initially more accurate and continued training
slowly “backs up” accurate values to earlier
board positions.
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Learning Algorithm
• Uses training values for the target function to
induce a hypothesized definition that fits these
examples and hopefully generalizes to
unseen examples.
• In statistics, learning to approximate a
continuous function is called regression.
• Attempts to minimize some measure of error
(loss function) such as mean squared
error:
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Least Mean Squares (LMS)
Algorithm
• A gradient descent algorithm that
incrementally updates the weights of a linear
function in an attempt to minimize the mean
squared error
Until weights converge :
For each training example b do :
1) Compute the absolute error :
2) For each board feature, fi, update its weight,
wi :
for some small constant (learning rate) c
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LMS Discussion
• Intuitively, LMS executes the following rules:
– If the output for an example is correct, make no
change.
– If the output is too high, lower the weights
proportional to the values of their corresponding
features, so the overall output decreases
– If the output is too low, increase the weights
proportional to the values of their corresponding
features, so the overall output increases.
• Under the proper weak assumptions, LMS can
be proven to eventetually converge to a set of
weights that minimizes the mean squared error.

Lessons Learned about
Learning
• Learning can be viewed as using direct or
indirect experience to approximate a chosen
target function.
• Function approximation can be viewed as a
search through a space of hypotheses
(representations of functions) for one that best
fits a set of training data.
• Different learning methods assume different
hypothesis spaces (representation languages)
and/or employ different search techniques.

Various Function Representations
• Numerical functions
– Linear regression
– Neural networks
– Support vector machines
• Symbolic functions
– Decision trees
– Rules in propositional logic
– Rules in first-order predicate logic
• Instance-based functions
– Nearest-neighbor
– Case-based
• Probabilistic Graphical Models
– Naïve Bayes
– Bayesian networks
– Hidden-Markov Models (HMMs)
– Probabilistic Context Free Grammars (PCFGs)
– Markov networks

Various Search Algorithms
• Gradient descent
– Perceptron
– Backpropagation
• Dynamic Programming
– HMM Learning
– PCFG Learning
• Divide and Conquer
– Decision tree induction
– Rule learning
• Evolutionary Computation
– Genetic Algorithms (GAs)
– Genetic Programming (GP)
– Neuro-evolution

Evaluation of Learning Systems
• Experimental
– Conduct controlled cross-validation experiments to
compare various methods on a variety of benchmark
datasets.
– Gather data on their performance, e.g. test accuracy,
training-time, testing-time.
– Analyze differences for statistical significance.
• Theoretical
– Analyze algorithms mathematically and prove
theorems about their:
• Computational complexity
• Ability to fit training data
• Sample complexity (number of training examples needed to
learn an accurate function)

History of Machine Learning
• 1950s
– Samuel’s checker player
– Selfridge’s Pandemonium
• 1960s:
– Neural networks: Perceptron
– Pattern recognition
– Learning in the limit theory
– Minsky and Papert prove limitations of Perceptron
• 1970s:
– Symbolic concept induction
– Winston’s arch learner
– Expert systems and the knowledge acquisition bottleneck
– Quinlan’s ID3
– Michalski’s AQ and soybean diagnosis
– Scientific discovery with BACON
– Mathematical discovery with AM

(cont.)
• 1980s:
– Advanced decision tree and rule learning
– Explanation-based Learning (EBL)
– Learning and planning and problem solving
– Utility problem
– Analogy
– Cognitive architectures
– Resurgence of neural networks (connectionism, backpropagation)
– Valiant’s PAC Learning Theory
– Focus on experimental methodology
• 1990s
– Data mining
– Adaptive software agents and web applications
– Text learning
– Reinforcement learning (RL)
– Inductive Logic Programming (ILP)
– Ensembles: Bagging, Boosting, and Stacking
– Bayes Net learning

(cont.)
• 2000s
– Support vector machines
– Kernel methods
– Graphical models
– Statistical relational learning
– Transfer learning
– Sequence labeling
– Collective classification and structured outputs
– Computer Systems Applications
• Compilers
• Debugging
• Graphics
• Security (intrusion, virus, and worm detection)
– Email management
– Personalized assistants that learn
– Learning in robotics and vision

http://www.kdnuggets.com/datasets/index.html

Supervised Learning Classification
• Example: Cancer diagnosis
• Use this training set to learn how to classify patients
where diagnosis is not known:
• The input data is often easily obtained, whereas the
classification is not.
Input Data Classification
Patient ID # of Tumors Avg Area Avg Density Diagnosis
1 5 20 118 Malignant
2 3 15 130 Benign
3 7 10 52 Benign
4 2 30 100 Malignant
Patient ID # of Tumors Avg Area Avg Density Diagnosis
101 4 16 95 ?
102 9 22 125 ?
103 1 14 80 ?
Training
Set
Test Set

Classification Problem
• Goal: Use training set + some learning method to
produce a predictive model.
• Use this predictive model to classify new data.
• Sample applications:
Application Input Data Classification
Medical Diagnosis Noninvasive tests Results from invasive
measurements
Optical Character
Recognition
Scanned bitmaps Letter A-Z
Protein Folding Amino acid construction Protein shape (helices,
loops, sheets)
Research Paper
Acceptance
Words in paper title Paper accepted or rejected

Application: Breast Cancer
Diagnosis
Research by Mangasarian,Street, Wolberg

Breast Cancer Diagnosis Separation
Research by Mangasarian,Street, Wolberg

The revolution in robotics
• Cheap robots!!!
• Cheap sensors
• Moore’s law

Robotics and ML
 Areas that robots are used:
 Industrial robots
 Military, government and space robots
 Service robots for home, healthcare, laboratory
 Why are robots used?
 Dangerous tasks or in hazardous environments
 Repetitive tasks
 High precision tasks or those requiring high quality
 Labor savings
 Control technologies:
 Autonomous (self-controlled), tele-operated (remote
control)

Industrial Robots
• Uses for robots in
manufacturing:
– Welding
– Painting
– Cutting
– Dispensing
– Assembly
– Polishing/Finishing
– Material Handling
• Packaging, Palletizing
• Machine loading

Industrial Robots
• Uses for robots in
Industry/Manufacturing
– Automotive:
• Video - Welding and handling of fuel tanks
from TV show “How It’s Made” on Discovery
Channel. This is a system I worked on in
2003.
– Packaging:
• Video - Robots in food manufacturing.

Industrial Robots - Automotive

Military/Government Robots
• iRobot
PackBot
 Remotec Andros

Military/Government Robots
Soldiers in Afghanistan being trained how to defuse a
landmine using a PackBot.

Military Robots
• Aerial drones (UAV)  Military suit

Space Robots
• Mars Rovers – Spirit and Opportunity
– Autonomous navigation features with human
remote control and oversight

Service Robots
• Many uses…
– Cleaning & Housekeeping
– Humanitarian Demining
– Rehabilitation
– Inspection
– Agriculture & Harvesting
– Lawn Mowers
– Surveillance
– Mining Applications
– Construction
– Automatic Refilling
– Fire Fighters
– Search & Rescue
iRobot Roomba vacuum
cleaner robot

Medical/Healthcare Applications
DaVinci surgical robot by Intuitive
Surgical.
St. Elizabeth Hospital is one of the local hospitals using this robot. You
can see this robot in person during an open house (website).
Japanese health care assistant suit
(HAL - Hybrid Assistive Limb)
Also… Mind-
controlled wheelchair
using NI LabVIEW

Laboratory Applications
Drug discovery Test tube sorting

ALVINN
Drives 70 mph on a public highway
Predecessor of the Google car
Camera
image
30x32 pixels
as inputs
30 outputs
for steering
30x32 weights
into one out of
four hidden
unit
4 hidden
units

Learning vs Adaptation
• ”Modification of a behavioral tendency by expertise.”
(Webster 1984)
• ”A learning machine, broadly defined is any device whose
actions are influenced by past experiences.” (Nilsson 1965)
• ”Any change in a system that allows it to perform better
the second time on repetition of the same task or on another
task drawn from the same population.” (Simon 1983)
• ”An improvement in information processing ability that results
from information processing activity.” (Tanimoto 1990)

69
A general model of learning
agents

Disciplines relevant to ML
• Artificial intelligence
• Bayesian methods
• Control theory
• Information theory
• Computational complexity theory
• Philosophy
• Psychology and neurobiology
• Statistics
• Many practical problems in engineering
and business

Machine Learning as
• Function approximation (mapping)
– Regression
• Classification
• Categorization (clustering)
• Prediction
• Pattern recognition

ML in the real world
• Real World Applications Panel: Machine
Learning and Decision Support
• Google
• Orbitz
• Astronomy

Working Applications of ML
• Classification of mortgages
• Predicting portfolio performance
• Electrical power control
• Chemical process control
• Character recognition
• Face recognition
• DNA classification
• Credit card fraud detection
• Cancer cell detection

Artificial Life
• GOLEM Project (Nature: Lipson, Pollack 2000)
http://www.demo.cs.brandeis.edu/golem/
• Evolve simple electromechanical locomotion machines
from basic building blocks (bars, acuators, artificial
neurons) in a simulation of the physical world (gravity,
friction).
• The individuals that demonstrate the best locomotion ability
are fabricated through rapid prototyping technology.

Issues in Machine Learning
• What algorithms can approximate functions
well and when
– How does the number of training examples
influence accuracy
• Problem representation / feature extraction
• Intention/independent learning
• Integrating learning with systems
• What are the theoretical limits of learnability
• Transfer learning
• Continuous learning

76
Measuring Performance
• Generalization accuracy
• Solution correctness
• Solution quality (length, efficiency)
• Speed of performance

Scaling issues in ML
• Number of
– Inputs
– Outputs
– Batch vs realtime
– Training vs testing

Machine Learning versus Human
Learning
– Some ML behavior can challenge the performance
of human experts (e.g., playing chess)
– Although ML sometimes matches human learning
capabilities, it is not able to learn as well as
humans or in the same way that humans do
– There is no claim that machine learning can be
applied in a truly creative way
– Formal theories of ML systems exist but are often
lacking (why a method succeeds or fails is not
clear)
– ML success is often attributed to manipulation of
symbols (rather than mere numeric information)

Observations
• ML has many practical applications and is
probably the most used method in AI.
• ML is also an active research area
• Role of cognitive science
• Computational model of cognition
• ACT-R
• Role of neuroscience
• Computational model of the brain
• Neural networks
• Brain vs mind; hardware vs software
• Nearly all ML is still dependent on human
“guidance”

Questions
• How does ML affect information science?
• Natural vs artificial learning – which is
better?
• Is ML needed in all problems?
• What are the future directions of ML?

ML

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