Dept. of Information Technology, Uppsala University, Sweden.Abstract: Gaussian process state-space models (GP-SSMs) are a very flexible family of models of nonlinear dynamical systems. They comprise a Bayesian nonparametric representation of the dynamics of the system and additional (hyper-)parameters governing the properties of this nonparametric representation. The Bayesian formalism enables systematic reasoning about the uncertainty in the system dynamics. We present an approach to maximum likelihood identification of the parameters in GP-SSMs, while retaining the full nonparametric description of the dynamics. The method is based on a stochastic approximation version of the EM algorithm that employs recent developments in particle Markov chain Monte Carlo for efficient identification. INTRODUCTION Inspired by recent developments in robotics and machine learning, we aim at constructing models of nonlinear dynamical systems capable of quantifying the uncertainty in their predictions.

Real world systems typically feature a variety of different dependency types and topologies that complicate model selection for probabilistic graphical models. We introduce the ensemble-of-forests model, a generalization of the ensemble-of-trees model. Our model enables structure learning of Markov random fields (MRF) with multiple connected components and arbitrary potentials. We present two approximate inference techniques for this model and demonstrate their performance on synthetic data. Our results suggest that the ensemble-of-forests approach can accurately recover sparse, possibly disconnected MRF topologies, even in presence of non-Gaussian dependencies and/or low sample size. We applied the ensemble-of-forests model to learn the structure of perturbed signaling networks of immune cells and found that these frequently exhibit non-Gaussian dependencies with disconnected MRF topologies. In summary, we expect that the ensemble-of-forests model will enable MRF structure learning in other high dimensional real world settings that are governed by non-trivial dependencies.

State-space models are successfully used in many areas of science, engineering and economics to model time series and dynamical systems. We present a fully Bayesian approach to inference \emph{and learning} (i.e. state estimation and system identification) in nonlinear nonparametric state-space models. We place a Gaussian process prior over the state transition dynamics, resulting in a flexible model able to capture complex dynamical phenomena. To enable efficient inference, we marginalize over the transition dynamics function and infer directly the joint smoothing distribution using specially tailored Particle Markov Chain Monte Carlo samplers. Once a sample from the smoothing distribution is computed, the state transition predictive distribution can be formulated analytically. Our approach preserves the full nonparametric expressivity of the model and can make use of sparse Gaussian processes to greatly reduce computational complexity.

Multivariate count data are defined as the number of items of different categories issued from sampling within a population, which individuals are grouped into categories. The analysis of multivariate count data is a recurrent and crucial issue in numerous modelling problems, particularly in the fields of biology and ecology (where the data can represent, for example, children counts associated with multitype branching processes), sociology and econometrics. We focus on I) Identifying categories that appear simultaneously, or on the contrary that are mutually exclusive. This is achieved by identifying conditional independence relationships between the variables; II)Building parsimonious parametric models consistent with these relationships; III) Characterising and testing the effects of covariates on the joint distribution of the counts. To achieve these goals, we propose an approach based on graphical probabilistic models, and more specifically partially directed acyclic graphs.

We present an asymptotic analysis of Viterbi Training (VT) and contrast it with a more conventional Maximum Likelihood (ML) approach to parameter estimation in Hidden Markov Models. While ML estimator works by (locally) maximizing the likelihood of the observed data, VT seeks to maximize the probability of the most likely hidden state sequence. We develop an analytical framework based on a generating function formalism and illustrate it on an exactly solvable model of HMM with one unambiguous symbol. For this particular model the ML objective function is continuously degenerate. VT objective, in contrast, is shown to have only finite degeneracy. Furthermore, VT converges faster and results in sparser (simpler) models, thus realizing an automatic Occam's razor for HMM learning. For more general scenario VT can be worse compared to ML but still capable of correctly recovering most of the parameters.

We tackle the fundamental problem of Bayesian active learning with noise, where we need to adaptively select from a number of expensive tests in order to identify an unknown hypothesis sampled from a known prior distribution. In the case of noise-free observations, a greedy algorithm called generalized binary search (GBS) is known to perform near-optimally. We show that if the observations are noisy, perhaps surprisingly, GBS can perform very poorly. We develop EC2, a novel, greedy active learning algorithm and prove that it is competitive with the optimal policy, thus obtaining the first competitiveness guarantees for Bayesian active learning with noisy observations. Our bounds rely on a recently discovered diminishing returns property called adaptive submodularity, generalizing the classical notion of submodular set functions to adaptive policies. Our results hold even if the tests have non-uniform cost and their noise is correlated. We also propose EffECXtive, a particularly fast approximation of EC2, and evaluate it on a Bayesian experimental design problem involving human subjects, intended to tease apart competing economic theories of how people make decisions under uncertainty.

Fitting high-dimensional data involves a delicate tradeoff between faithful representation and the use of sparse models. Too often, sparsity assumptions on the fitted model are too restrictive to provide a faithful representation of the observed data. In this paper, we present a novel framework incorporating sparsity in different domains.We decompose the observed covariance matrix into a sparse Gaussian Markov model (with a sparse precision matrix) and a sparse independence model (with a sparse covariance matrix). Our framework incorporates sparse covariance and sparse precision estimation as special cases and thus introduces a richer class of high-dimensional models. We characterize sufficient conditions for identifiability of the two models, \viz Markov and independence models. We propose an efficient decomposition method based on a modification of the popular $\ell_1$-penalized maximum-likelihood estimator ($\ell_1$-MLE). We establish that our estimator is consistent in both the domains, i.e., it successfully recovers the supports of both Markov and independence models, when the number of samples $n$ scales as $n = \Omega(d^2 \log p)$, where $p$ is the number of variables and $d$ is the maximum node degree in the Markov model. Our experiments validate these results and also demonstrate that our models have better inference accuracy under simple algorithms such as loopy belief propagation.

We introduce a Bayesian approach to discovering patterns in structurally complex processes. The proposed method of Bayesian Structural Inference (BSI) relies on a set of candidate unifilar HMM (uHMM) topologies for inference of process structure from a data series. We employ a recently developed exact enumeration of topological epsilon-machines. (A sequel then removes the topological restriction.) This subset of the uHMM topologies has the added benefit that inferred models are guaranteed to be epsilon-machines, irrespective of estimated transition probabilities. Properties of epsilon-machines and uHMMs allow for the derivation of analytic expressions for estimating transition probabilities, inferring start states, and comparing the posterior probability of candidate model topologies, despite process internal structure being only indirectly present in data. We demonstrate BSI's effectiveness in estimating a process's randomness, as reflected by the Shannon entropy rate, and its structure, as quantified by the statistical complexity. We also compare using the posterior distribution over candidate models and the single, maximum a posteriori model for point estimation and show that the former more accurately reflects uncertainty in estimated values. We apply BSI to in-class examples of finite- and infinite-order Markov processes, as well to an out-of-class, infinite-state hidden process.

Spectral methods have greatly advanced the estimation of latent variable models, generating a sequence of novel and efficient algorithms with strong theoretical guarantees. However, current spectral algorithms are largely restricted to mixtures of discrete or Gaussian distributions. In this paper, we propose a kernel method for learning multi-view latent variable models, allowing each mixture component to be nonparametric. The key idea of the method is to embed the joint distribution of a multi-view latent variable into a reproducing kernel Hilbert space, and then the latent parameters are recovered using a robust tensor power method. We establish that the sample complexity for the proposed method is quadratic in the number of latent components and is a low order polynomial in the other relevant parameters. Thus, our non-parametric tensor approach to learning latent variable models enjoys good sample and computational efficiencies. Moreover, the non-parametric tensor power method compares favorably to EM algorithm and other existing spectral algorithms in our experiments.

We study an economic decision problem where the actors are two firms and the Antitrust Authority whose main task is to monitor and prevent firms' potential anti-competitive behaviour and its effect on the market. The Antitrust Authority's decision process is modelled using a Bayesian network where both the relational structure and the parameters of the model are estimated from a data set provided by the Authority itself. A number of economic variables that influence this decision process are also included in the model. We analyse how monitoring by the Antitrust Authority affects firms' strategies about cooperation. Firms' strategies are modelled as a repeated prisoner's dilemma using object-oriented Bayesian networks. We show how the integration of firms' decision process and external market information can be modelled in this way. Various decision scenarios and strategies are illustrated.