This article presents a comprehensive review of the Active Simultaneous Localization and Mapping (A-SLAM) research conducted over the past decade. It explores the formulation, applications, and methodologies employed in A-SLAM, particularly in trajectory generation and control-action selection, drawing on concepts from Information Theory (IT) and the Theory of Optimal Experimental Design (TOED). This review includes both qualitative and quantitative analyses of various approaches, deployment scenarios, configurations, path-planning methods, and utility functions within A-SLAM research. Furthermore, this article introduces a novel analysis of Active Collaborative SLAM (AC-SLAM), focusing on collaborative aspects within SLAM systems. It includes a thorough examination of collaborative parameters and approaches, supported by both qualitative and statistical assessments. This study also identifies limitations in the existing literature and suggests potential avenues for future research. This survey serves as a valuable resource for researchers seeking insights into A-SLAM methods and techniques, offering a current overview of A-SLAM formulation.

Bayesian optimization (BO) is a popular black-box function optimization method, which makes sequential decisions based on a Bayesian model, typically a Gaussian process (GP), of the function. To ensure the quality of the model, transfer learning approaches have been developed to automatically design GP priors by learning from observations on "training" functions. These training functions are typically required to have the same domain as the "test" function (black-box function to be optimized). In this paper, we introduce MPHD, a model pre-training method on heterogeneous domains, which uses a neural net mapping from domain-specific contexts to specifications of hierarchical GPs. MPHD can be seamlessly integrated with BO to transfer knowledge across heterogeneous search spaces. Our theoretical and empirical results demonstrate the validity of MPHD and its superior performance on challenging black-box function optimization tasks.

Bayesian optimization (BO), while proved highly effective for many black-box function optimization tasks, requires practitioners to carefully select priors that well model their functions of interest. Rather than specifying by hand, researchers have investigated transfer learning based methods to automatically learn the priors, e.g. multi-task BO (Swersky et al., 2013), few-shot BO (Wistuba and Grabocka, 2021) and HyperBO (Wang et al., 2022). However, those prior learning methods typically assume that the input domains are the same for all tasks, weakening their ability to use observations on functions with different domains or generalize the learned priors to BO on different search spaces. In this work, we present HyperBO+: a pre-training approach for hierarchical Gaussian processes that enables the same prior to work universally for Bayesian optimization on functions with different domains. We propose a two-step pre-training method and analyze its appealing asymptotic properties and benefits to BO both theoretically and empirically. On real-world hyperparameter tuning tasks that involve multiple search spaces, we demonstrate that HyperBO+ is able to generalize to unseen search spaces and achieves lower regrets than competitive baselines.

Recent literature has explored various ways to improve soft sensors using learning algorithms with transferability. Broadly put, the performance of a soft sensor may be strengthened when it is learned by solving multiple tasks. The usefulness of transferability depends on how strongly related the devised learning tasks are. A particularly relevant case for transferability, is when a soft sensor is to be developed for a process of which there are many realizations, e.g. system or device with many implementations from which data is available. Then, each realization presents a soft sensor learning task, and it is reasonable to expect that the different tasks are strongly related. Applying transferability in this setting leads to what we call multi-unit soft sensing, where a soft sensor models a process by learning from data from all of its realizations. This paper explores the learning abilities of a multi-unit soft sensor, which is formulated as a hierarchical model and implemented using a deep neural network. In particular, we investigate how well the soft sensor generalizes as the number of units increase. Using a large industrial dataset, we demonstrate that, when the soft sensor is learned from a sufficient number of tasks, it permits few-shot learning on data from new units. Surprisingly, regarding the difficulty of the task, few-shot learning on 1-3 data points often leads to a high performance on new units.

The Bayesian Cram\'er-Rao bound (CRB) provides a lower bound on the error of any Bayesian estimator under mild regularity conditions. It can be used to benchmark the performance of estimators, and provides a principled design metric for guiding system design and optimization. However, the Bayesian CRB depends on the prior distribution, which is often unknown for many problems of interest. This work develops a new data-driven estimator for the Bayesian CRB using score matching, a statistical estimation technique, to model the prior distribution. The performance of the estimator is analyzed in both the classical parametric modeling regime and the neural network modeling regime. In both settings, we develop novel non-asymptotic bounds on the score matching error and our Bayesian CRB estimator. Our proofs build on results from empirical process theory, including classical bounds and recently introduced techniques for characterizing neural networks, to address the challenges of bounding the score matching error. The performance of the estimator is illustrated empirically on a denoising problem example with a Gaussian mixture prior.

Effectively addressing missing values in data imputation is pivotal, particularly for intricate datasets. This study delves into the full information maximum likelihood (FIML) optimized self-attention (FOSA) framework, an innovative approach that amalgamates the strengths of FIML estimation with the capabilities of self-attention neural networks. Our methodology begins with an initial estimation of missing values via FIML, which is subsequently refined by leveraging the self-attention mechanism. Our comprehensive experiments on both simulated and real-world datasets underscore the pronounced advantages of FOSA over traditional FIML techniques, including encapsulating facets of accuracy, computational efficiency, and adaptability to diverse data structures. Intriguingly, even in cases where the structural equation model can be misspecified, leading to sub-optimal FIML estimates, the robust architecture of the FOSA self-attention component adeptly rectifies and optimizes the imputation outcomes. Our empirical tests reveal that FOSA consistently delivers commendable predictions even for approximately 40% random missingness, highlighting its robustness and potential for wide-scale applications in data imputation.

Weighted finite-state machines are a fundamental building block of NLP systems. They have withstood the test of time -- from their early use in noisy channel models in the 1990s up to modern-day neurally parameterized conditional random fields. This work examines the computation of higher-order derivatives with respect to the normalization constant for weighted finite-state machines. We provide a general algorithm for evaluating derivatives of all orders, which has not been previously described in the literature. In the case of second-order derivatives, our scheme runs in the optimal $\mathcal{O}(A^2 N^4)$ time where $A$ is the alphabet size and $N$ is the number of states. Our algorithm is significantly faster than prior algorithms. Additionally, our approach leads to a significantly faster algorithm for computing second-order expectations, such as covariance matrices and gradients of first-order expectations.

We study the multiclass classification problem where the features come from the mixture of time-homogeneous diffusions. Specifically, the classes are discriminated by their drift functions while the diffusion coefficient is common to all classes and unknown. In this framework, we build a plug-in classifier which relies on nonparametric estimators of the drift and diffusion functions. We first establish the consistency of our classification procedure under mild assumptions and then provide rates of cnvergence under different set of assumptions. Finally, a numerical study supports our theoretical findings.

This paper addresses the problem of statistical inference for latent continuous-time stochastic processes, which is often intractable, particularly for discrete state space processes described by Markov jump processes. To overcome this issue, we propose a new tractable inference scheme based on an entropic matching framework that can be embedded into the well-known expectation propagation algorithm. We demonstrate the effectiveness of our method by providing closed-form results for a simple family of approximate distributions and apply it to the general class of chemical reaction networks, which are a crucial tool for modeling in systems biology. Moreover, we derive closed form expressions for point estimation of the underlying parameters using an approximate expectation maximization procedure. We evaluate the performance of our method on various chemical reaction network instantiations, including a stochastic Lotka-Voltera example, and discuss its limitations and potential for future improvements. Our proposed approach provides a promising direction for addressing complex continuous-time Bayesian inference problems.

Leave-one-out cross-validation (LOO-CV) is a popular method for estimating out-of-sample predictive accuracy. However, computing LOO-CV criteria can be computationally expensive due to the need to fit the model multiple times. In the Bayesian context, importance sampling provides a possible solution but classical approaches can easily produce estimators whose asymptotic variance is infinite, making them potentially unreliable. Here we propose and analyze a novel mixture estimator to compute Bayesian LOO-CV criteria. Our method retains the simplicity and computational convenience of classical approaches, while guaranteeing finite asymptotic variance of the resulting estimators. Both theoretical and numerical results are provided to illustrate the improved robustness and efficiency. The computational benefits are particularly significant in high-dimensional problems, allowing to perform Bayesian LOO-CV for a broader range of models, and datasets with highly influential observations. The proposed methodology is easily implementable in standard probabilistic programming software and has a computational cost roughly equivalent to fitting the original model once.