Planning in partially observable domains is a notoriously difficult problem. How- ever, in many real-world scenarios, planning can be simplified by decomposing the task into a hierarchy of smaller planning problems. Several approaches have been proposed to optimize a policy that decomposes according to a hierarchy specified a priori. In this paper, we investigate the problem of automatically discovering the hierarchy. More precisely, we frame the optimization of a hierarchical policy as a non-convex optimization problem that can be solved with general non-linear solvers, a mixed-integer non-linear approximation or a form of bounded hierar- chical policy iteration. By encoding the hierarchical structure as variables of the optimization problem, we can automatically discover a hierarchy. Our method is flexible enough to allow any parts of the hierarchy to be specified based on prior knowledge while letting the optimization discover the unknown parts. It can also discover hierarchical policies, including recursive policies, that are more compact (potentially infinitely fewer parameters) and often easier to understand given the decomposition induced by the hierarchy.

BACKGROUND: Expression array data are used to predict biological functions of uncharacterized genes by comparing their expression profiles to those of characterized genes. While biologically plausible, this is both statistically and computationally challenging. Typical approaches are computationally expensive and ignore correlations among expression profiles and functional categories. RESULTS: We propose a factor analysis model (FAM) for functional genomics and give a two-step algorithm, using genome-wide expression data for yeast and a subset of Gene-Ontology Biological Process functional annotations. We show that the predictive performance of our method is comparable to the current best approach while our total computation time was faster by a factor of 4000. We discuss the unique challenges in performance evaluation of algorithms used for genome-wide functions genomics. Finally, we discuss extensions to our method that can incorporate the inherent correlation structure of the functional categories to further improve predictive performance. CONCLUSION: Our factor analysis model is a computationally efficient technique for functional genomics and provides a clear and unified statistical framework with potential for incorporating important gene ontology information to improve predictions.