UNITRAN: A Principle-Based Approach to Machine Translation

Machine translation has been a particularly difficult problem in the area of Natural Language Processing for over two decades. Early approaches to translation failed since interaction effects of complex phenomena in part made translation appear to be unmanageable. Later approaches to the problem have succeeded (although only bilingually), but are based on many language-specific rules of a context-free nature. This report presents an alternative approach to natural language translation that relies on principle-based descriptions of grammar rather than rule-oriented descriptions. The model that has been constructed is based on abstract principles as developed by Chomsky (1981) and several other researchers working within the "Government and Binding" (GB) framework. Thus, the grammar is viewed as a modular system of principles rather than a large set of ad hoc language-specific rules.

Learning-Based Approach to Real Time Tracking and Analysis of Faces

This paper describes a trainable system capable of tracking faces and facialsfeatures like eyes and nostrils and estimating basic mouth features such as sdegrees of openness and smile in real time. In developing this system, we have addressed the twin issues of image representation and algorithms for learning. We have used the invariance properties of image representations based on Haar wavelets to robustly capture various facial features. Similarly, unlike previous approaches this system is entirely trained using examples and does not rely on a priori (hand-crafted) models of facial features based on optical flow or facial musculature. The system works in several stages that begin with face detection, followed by localization of facial features and estimation of mouth parameters. Each of these stages is formulated as a problem in supervised learning from examples. We apply the new and robust technique of support vector machines (SVM) for classification in the stage of skin segmentation, face detection and eye detection. Estimation of mouth parameters is modeled as a regression from a sparse subset of coefficients (basis functions) of an overcomplete dictionary of Haar wavelets.

Learning-Based Approach to Estimation of Morphable Model Parameters

We describe the key role played by partial evaluation in the Supercomputing Toolkit, a parallel computing system for scientific applications that effectively exploits the vast amount of parallelism exposed by partial evaluation. The Supercomputing Toolkit parallel processor and its associated partial evaluation-based compiler have been used extensively by scientists at MIT, and have made possible recent results in astrophysics showing that the motion of the planets in our solar system is chaotically unstable.

Principles, Opportunism and Seeing in Design: A Computational Approach

This thesis introduces elements of a theory of design activity and a computational framework for developing design systems. The theory stresses the opportunistic nature of designing and the complementary roles of focus and distraction, the interdependence of evaluation and generation, the multiplicity of ways of seeing over the history of a design session versus the exclusivity of a given way of seeing over an arbitrarily short period, and the incommensurability of criteria used to evaluate a design. The thesis argues for a principle based rather than rule based approach to designing documents. The Discursive Generator is presented as a computational framework for implementing specific design systems, and a simple system for arranging blocks according to a set of formal principles is developed by way of illustration. Both shape grammars and constraint based systems are used to contrast current trends in design automation with the discursive approach advocated in the thesis. The Discursive Generator is shown to have some important properties lacking in other types of systems, such as dynamism, robustness and the ability to deal with partial designs. When studied in terms of a search metaphor, the Discursive Generator is shown to exhibit behavior which is radically different from some traditional search techniques, and to avoid some of the well-known difficulties associated with them.

Inferring 3D Structure with a Statistical Image-Based Shape Model

We present an image-based approach to infer 3D structure parameters using a probabilistic "shape+structure'' model. The 3D shape of a class of objects may be represented by sets of contours from silhouette views simultaneously observed from multiple calibrated cameras. Bayesian reconstructions of new shapes can then be estimated using a prior density constructed with a mixture model and probabilistic principal components analysis. We augment the shape model to incorporate structural features of interest; novel examples with missing structure parameters may then be reconstructed to obtain estimates of these parameters. Model matching and parameter inference are done entirely in the image domain and require no explicit 3D construction. Our shape model enables accurate estimation of structure despite segmentation errors or missing views in the input silhouettes, and works even with only a single input view. Using a dataset of thousands of pedestrian images generated from a synthetic model, we can perform accurate inference of the 3D locations of 19 joints on the body based on observed silhouette contours from real images.

Principle-Based Parsing

During the past few years, there has been much discussion of a shift from rule-based systems to principle-based systems for natural language processing. This paper outlines the major computational advantages of principle-based parsing, its differences from the usual rule-based approach, and surveys several existing principle-based parsing systems used for handling languages as diverse as Warlpiri, English, and Spanish, as well as language translation.

Contact Sensing: A Sequential Decision Approach to Sensing Manipulation Contact

This paper describes a new statistical, model-based approach to building a contact state observer. The observer uses measurements of the contact force and position, and prior information about the task encoded in a graph, to determine the current location of the robot in the task configuration space. Each node represents what the measurements will look like in a small region of configuration space by storing a predictive, statistical, measurement model. This approach assumes that the measurements are statistically block independent conditioned on knowledge of the model, which is a fairly good model of the actual process. Arcs in the graph represent possible transitions between models. Beam Viterbi search is used to match measurement history against possible paths through the model graph in order to estimate the most likely path for the robot. The resulting approach provides a new decision process that can be use as an observer for event driven manipulation programming. The decision procedure is significantly more robust than simple threshold decisions because the measurement history is used to make decisions. The approach can be used to enhance the capabilities of autonomous assembly machines and in quality control applications.

Component based recognition of objects in an office environment

We present a component-based approach for recognizing objects under large pose changes. From a set of training images of a given object we extract a large number of components which are clustered based on the similarity of their image features and their locations within the object image. The cluster centers build an initial set of component templates from which we select a subset for the final recognizer. In experiments we evaluate different sizes and types of components and three standard techniques for component selection. The component classifiers are finally compared to global classifiers on a database of four objects.