In order to learn effective control policies for dynamical systems, policy search methods must be able to discover successful executions of the desired task. While random exploration can work well in simple domains, complex and highdimensional tasks present a serious challenge, particularly when combined with high-dimensional policies that make parameter-space exploration infeasible. We present a method that uses trajectory optimization as a powerful exploration strategy that guides the policy search. A variational decomposition of a maximum likelihood policy objective allows us to use standard trajectory optimization algorithms such as differential dynamic programming, interleaved with standard supervised learning for the policy itself. We demonstrate that the resulting algorithm can outperform prior methods on two challenging locomotion tasks.

In many natural settings, the analysis goal is not to characterize a single data set in isolation, but rather to understand the difference between one set of observations and another. For example, given a background corpus of news articles together with writings of a particular author, one may want a topic model that explains word patterns and themes specific to the author. Another example comes from genomics, in which biological signals may be collected from different regions of a genome, and one wants a model that captures the differential statistics observed in these regions. This paper formalizes this notion of contrastive learning for mixture models, and develops spectral algorithms for inferring mixture components specific to a foreground data set when contrasted with a background data set. The method builds on recent moment-based estimators and tensor decompositions for latent variable models, and has the intuitive feature of using background data statistics to appropriately modify moments estimated from foreground data. A key advantage of the method is that the background data need only be coarsely modeled, which is important when the background is too complex, noisy, or not of interest. The method is demonstrated on applications in contrastive topic modeling and genomic sequence analysis.

We propose an efficient Bayesian nonparametric model for discovering hierarchical community structure in social networks. Our model is a tree-structured mixture of potentially exponentially many stochastic blockmodels. We describe a family of greedy agglomerative model selection algorithms that take just one pass through the data to learn a fully probabilistic, hierarchical community model.

The Markov chain is a convenient tool to represent the dynamics of complex systems such as traffic and social systems, where probabilistic transition takes place between internal states. A Markov chain is characterized by initial-state probabilities and a state-transition probability matrix. In the traditional setting, a major goal is to study properties of a Markov chain when those probabilities are known. This paper tackles an inverse version of the problem: we find those probabilities from partial observations at a limited number of states. The observations include the frequency of visiting a state and the rate of reaching a state from another. Practical examples of this task include traffic monitoring systems in cities, where we need to infer the traffic volume on single link on a road network from a limited number of observation points. We formulate this task as a regularized optimization problem, which is efficiently solved using the notion of natural gradient. Using synthetic and real-world data sets including city traffic monitoring data, we demonstrate the effectiveness of our method.

In this paper we investigate the use of Langevin Monte Carlo methods on the probability simplex and propose a new method, Stochastic gradient Riemannian Langevin dynamics, which is simple to implement and can be applied to large scale data. We apply this method to latent Dirichlet allocation in an online minibatch setting, and demonstrate that it achieves substantial performance improvements over the state of the art online variational Bayesian methods.

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 and learning (i.e.

Logistic-normal topic models can effectively discover correlation structures among latent topics. However, their inference remains a challenge because of the non-conjugacy between the logistic-normal prior and multinomial topic mixing proportions. Existing algorithms either make restricting mean-field assumptions or are not scalable to large-scale applications. This paper presents a partially collapsed Gibbs sampling algorithm that approaches the provably correct distribution by exploring the ideas of data augmentation. To improve time efficiency, we further present a parallel implementation that can deal with large-scale applications and learn the correlation structures of thousands of topics from millions of documents. Extensive empirical results demonstrate the promise.

Stochastic And-Or grammars compactly represent both compositionality and reconfigurability and have been used to model different types of data such as images and events. We present a unified formalization of stochastic And-Or grammars that is agnostic to the type of the data being modeled, and propose an unsupervised approach to learning the structures as well as the parameters of such grammars. Starting from a trivial initial grammar, our approach iteratively induces compositions and reconfigurations in a unified manner and optimizes the posterior probability of the grammar. In our empirical evaluation, we applied our approach to learning event grammars and image grammars and achieved comparable or better performance than previous approaches.

Structure learning algorithms for graphical models have focused almost exclusively on stable environments in which the underlying generative process does not change; that is, they assume that the generating model is globally stationary. In real-world environments, however, such changes often occur without warning or signal. Real-world data often come from generating models that are only locally stationary. In this paper, we present LoSST, a novel, heuristic structure learning algorithm that tracks changes in graphical model structure or parameters in a dynamic, real-time manner. We show by simulation that the algorithm performs comparably to batch-mode learning when the generating graphical structure is globally stationary, and significantly better when it is only locally stationary.

Gaussian Graphical Models (GGMs) or Gauss Markov random fields are widely used in many applications, and the trade-off between the modeling capacity and the efficiency of learning and inference has been an important research problem. In this paper, we study the family of GGMs with small feedback vertex sets (FVSs), where an FVS is a set of nodes whose removal breaks all the cycles.