This work proposes a new method for simultaneous probabilistic identification and control of an observable, fully-actuated mechanical system. Identification is achieved by conditioning stochastic process priors on observations of configurations and noisy estimates of configuration derivatives. In contrast to previous work that has used stochastic processes for identification, we leverage the structural knowledge afforded by Lagrangian mechanics and learn the drift and control input matrix functions of the control-affine system separately. We utilise feedback-linearisation to reduce, in expectation, the uncertain nonlinear control problem to one that is easy to regulate in a desired manner. Thereby, our method combines the flexibility of nonparametric Bayesian learning with epistemological guarantees on the expected closed-loop trajectory. We illustrate our method in the context of torque-actuated pendula where the dynamics are learned with a combination of normal and log-normal processes.

We describe Venture, an interactive virtual machine for probabilistic programming that aims to be sufficiently expressive, extensible, and efficient for general-purpose use. Like Church, probabilistic models and inference problems in Venture are specified via a Turing-complete, higher-order probabilistic language descended from Lisp. Unlike Church, Venture also provides a compositional language for custom inference strategies built out of scalable exact and approximate techniques. We also describe four key aspects of Venture's implementation that build on ideas from probabilistic graphical models. First, we describe the stochastic procedure interface (SPI) that specifies and encapsulates primitive random variables. The SPI supports custom control flow, higher-order probabilistic procedures, partially exchangeable sequences and ``likelihood-free'' stochastic simulators. It also supports external models that do inference over latent variables hidden from Venture. Second, we describe probabilistic execution traces (PETs), which represent execution histories of Venture programs. PETs capture conditional dependencies, existential dependencies and exchangeable coupling. Third, we describe partitions of execution histories called scaffolds that factor global inference problems into coherent sub-problems. Finally, we describe a family of stochastic regeneration algorithms for efficiently modifying PET fragments contained within scaffolds. Stochastic regeneration linear runtime scaling in cases where many previous approaches scaled quadratically. We show how to use stochastic regeneration and the SPI to implement general-purpose inference strategies such as Metropolis-Hastings, Gibbs sampling, and blocked proposals based on particle Markov chain Monte Carlo and mean-field variational inference techniques.

Discovering and characterizing the large-scale topological features in empirical networks are crucial steps in understanding how complex systems function. However, most existing methods used to obtain the modular structure of networks suffer from serious problems, such as being oblivious to the statistical evidence supporting the discovered patterns, which results in the inability to separate actual structure from noise. In addition to this, one also observes a resolution limit on the size of communities, where smaller but well-defined clusters are not detectable when the network becomes large. This phenomenon occurs not only for the very popular approach of modularity optimization, which lacks built-in statistical validation, but also for more principled methods based on statistical inference and model selection, which do incorporate statistical validation in a formally correct way. Here we construct a nested generative model that, through a complete description of the entire network hierarchy at multiple scales, is capable of avoiding this limitation, and enables the detection of modular structure at levels far beyond those possible with current approaches. Even with this increased resolution, the method is based on the principle of parsimony, and is capable of separating signal from noise, and thus will not lead to the identification of spurious modules even on sparse networks. Furthermore, it fully generalizes other approaches in that it is not restricted to purely assortative mixing patterns, directed or undirected graphs, and ad hoc hierarchical structures such as binary trees. Despite its general character, the approach is tractable, and can be combined with advanced techniques of community detection to yield an efficient algorithm that scales well for very large networks.

Markov chain Monte Carlo (MCMC) is a popular and successful general-purpose tool for Bayesian inference. However, MCMC cannot be practically applied to large data sets because of the prohibitive cost of evaluating every likelihood term at every iteration. Here we present Firefly Monte Carlo (FlyMC) an auxiliary variable MCMC algorithm that only queries the likelihoods of a potentially small subset of the data at each iteration yet simulates from the exact posterior distribution, in contrast to recent proposals that are approximate even in the asymptotic limit. FlyMC is compatible with a wide variety of modern MCMC algorithms, and only requires a lower bound on the per-datum likelihood factors. In experiments, we find that FlyMC generates samples from the posterior more than an order of magnitude faster than regular MCMC, opening up MCMC methods to larger datasets than were previously considered feasible.

Communication costs, resulting from synchronization requirements during learning, can greatly slow down many parallel machine learning algorithms. In this paper, we present a parallel Markov chain Monte Carlo (MCMC) algorithm in which subsets of data are processed independently, with very little communication. First, we arbitrarily partition data onto multiple machines. Then, on each machine, any classical MCMC method (e.g., Gibbs sampling) may be used to draw samples from a posterior distribution given the data subset. Finally, the samples from each machine are combined to form samples from the full posterior. This embarrassingly parallel algorithm allows each machine to act independently on a subset of the data (without communication) until the final combination stage. We prove that our algorithm generates asymptotically exact samples and empirically demonstrate its ability to parallelize burn-in and sampling in several models.

Geographical location is vital to geospatial applications like local search and event detection. In this paper, we investigate and improve on the task of text-based geolocation prediction of Twitter users. Previous studies on this topic have typically assumed that geographical references (e.g., gazetteer terms, dialectal words) in a text are indicative of its authors location. However, these references are often buried in informal, ungrammatical, and multilingual data, and are therefore non-trivial to identify and exploit. We present an integrated geolocation prediction framework and investigate what factors impact on prediction accuracy. First, we evaluate a range of feature selection methods to obtain location indicative words. We then evaluate the impact of non-geotagged tweets, language, and user-declared metadata on geolocation prediction. In addition, we evaluate the impact of temporal variance on model generalisation, and discuss how users differ in terms of their geolocatability. We achieve state-of-the-art results for the text-based Twitter user geolocation task, and also provide the most extensive exploration of the task to date. Our findings provide valuable insights into the design of robust, practical text-based geolocation prediction systems.

Nodes in real world networks often have class labels, or underlying attributes, that are related to the way in which they connect to other nodes. Sometimes this relationship is simple, for instance nodes of the same class are may be more likely to be connected. In other cases, however, this is not true, and the way that nodes link in a network exhibits a different, more complex relationship to their attributes. Here, we consider networks in which we know how the nodes are connected, but we do not know the class labels of the nodes or how class labels relate to the network links. We wish to identify the best subset of nodes to label in order to learn this relationship between node attributes and network links. We can then use this discovered relationship to accurately predict the class labels of the rest of the network nodes. We present a model that identifies groups of nodes with similar link patterns, which we call network roles, using a generative blockmodel. The model then predicts labels by learning the mapping from network roles to class labels using a maximum margin classifier. We choose a subset of nodes to label according to an iterative margin-based active learning strategy. By integrating the discovery of network roles with the classifier optimisation, the active learning process can adapt the network roles to better represent the network for node classification. We demonstrate the model by exploring a selection of real world networks, including a marine food web and a network of English words. We show that, in contrast to other network classifiers, this model achieves good classification accuracy for a range of networks with different relationships between class labels and network links.

Recent advances in Bayesian reinforcement learning (BRL) have shown that Bayes-optimality is theoretically achievable by modeling the environment's latent dynamics using Flat-Dirichlet-Multinomial (FDM) prior. In self-interested multi-agent environments, the transition dynamics are mainly controlled by the other agent's stochastic behavior for which FDM's independence and modeling assumptions do not hold. As a result, FDM does not allow the other agent's behavior to be generalized across different states nor specified using prior domain knowledge. To overcome these practical limitations of FDM, we propose a generalization of BRL to integrate the general class of parametric models and model priors, thus allowing practitioners' domain knowledge to be exploited to produce a fine-grained and compact representation of the other agent's behavior. Empirical evaluation shows that our approach outperforms existing multi-agent reinforcement learning algorithms.

Scientific practice typically involves repeatedly studying a system, each time trying to unravel a different perspective. In each study, the scientist may take measurements under different experimental conditions (interventions, manipulations, perturbations) and measure different sets of quantities (variables). The result is a collection of heterogeneous data sets coming from different data distributions. In this work, we present algorithm COmbINE, which accepts a collection of data sets over overlapping variable sets under different experimental conditions; COmbINE then outputs a summary of all causal models indicating the invariant and variant structural characteristics of all models that simultaneously fit all of the input data sets. COmbINE converts estimated dependencies and independencies in the data into path constraints on the data-generating causal model and encodes them as a SAT instance. The algorithm is sound and complete in the sample limit. To account for conflicting constraints arising from statistical errors, we introduce a general method for sorting constraints in order of confidence, computed as a function of their corresponding p-values. In our empirical evaluation, COmbINE outperforms in terms of efficiency the only pre-existing similar algorithm; the latter additionally admits feedback cycles, but does not admit conflicting constraints which hinders the applicability on real data. As a proof-of-concept, COmbINE is employed to co-analyze 4 real, mass-cytometry data sets measuring phosphorylated protein concentrations of overlapping protein sets under 3 different interventions.

In this survey we present different approaches that allow an intelligent agent to explore autonomous its environment to gather information and learn multiple tasks. Different communities proposed different solutions, that are in many cases, similar and/or complementary. These solutions include active learning, exploration/exploitation, online-learning and social learning. The common aspect of all these approaches is that it is the agent to selects and decides what information to gather next. Applications for these approaches already include tutoring systems, autonomous grasping learning, navigation and mapping and human-robot interaction. We discuss how these approaches are related, explaining their similarities and their differences in terms of problem assumptions and metrics of success. We consider that such an integrated discussion will improve inter-disciplinary research and applications.