Continual Learning is a learning paradigm where machine learning mode ls are trained with sequential or streaming tasks. Two notable directions among the recent adva nces in continual learning with neural networks are ( i) variational Bayes based regularization by learning priors from pre vious tasks, and, ( ii) learning the structure of deep networks to adapt to new tasks. S o far, these two approaches have been orthogonal. We present a principled nonparametric Bayesian appr oach for learning the structure of feed-forward neural networks, addressing the shortcomings o f both these approaches. In our model, the number of nodes in each hidden layer can automatically grow with the in troduction of each new task, and inter-task transfer occurs through the overlapping of differ ent sparse subsets of weights learned by different tasks. On benchmark datasets, our model performs comparably or better than the state-of-the-art approaches, while also being able to adaptively infer the evolving network structure in the continual learning setting.

I will discuss a line of work in which we compile common machine learning systems into symbolic representations that have the same input-output behavior to facilitate formal reasoning about these systems. We have targeted Bayesian network classifiers, random forests and some types of neural networks, compiling each into tractable Boolean circuits, including Ordered Binary Decision Diagrams (OBDDs). Once the machine learning system is compiled into a tractable Boolean circuit, reasoning can commence using classical AI and computer science techniques. This includes generating explanations for decisions, quantifying robustness and verifying properties such as monotonicity. I will particularly discuss a new theory for unveiling the reasons behind the decisions made by classifiers, which can detect classifier bias sometimes from the reasons behind unbiased decisions.

Currently, usual approaches for fast robot control are largely reliant on solving online optimal control problems. Such methods are known to be computationally intensive and sensitive to model accuracy. On the other hand, animals plan complex motor actions not only fast but seemingly with little effort even on unseen tasks. This natural sense of time and coordination motivates us to approach robot control from a motor skill learning perspective to design fast and computationally light controllers that can be learned autonomously by the robot under mild modeling assumptions. This article introduces Phase Portrait Movement Primitives (PPMP), a primitive that predicts dynamics on a low dimensional phase space which in turn is used to govern the high dimensional kinematics of the task. The stark difference with other primitive formulations is a built-in mechanism for phase prediction in the form of coupled oscillators that replaces model-based state estimators such as Kalman filters. The policy is trained by optimizing the parameters of the oscillators whose output is connected to a kinematic distribution in the form of a phase portrait. The drastic reduction in dimensionality allows us to efficiently train and execute PPMPs on a real human-sized, dual-arm humanoid upper body on a task involving 20 degrees-of-freedom. We demonstrate PPMPs in interactions requiring fast reactions times while generating anticipative pose adaptation in both discrete and cyclic tasks.

In this paper, we improve the PAC-Bayesian error bound for linear regression derived in Germain et al. [10]. The improvements are twofold. First, the proposed error bound is tighter, and converges to the generalization loss with a well-chosen temperature parameter. Second, the error bound also holds for training data that are not independently sampled. In particular, the error bound applies to certain time series generated by well-known classes of dynamical models, such as ARX models.

Bayesian learning of model parameters in neural networks is important in scenarios where estimates with well-calibrated uncertainty are important. In this paper, we propose Bayesian quantized networks (BQNs), quantized neural networks (QNNs) for which we learn a posterior distribution over their discrete parameters. We provide a set of efficient algorithms for learning and prediction in BQNs without the need to sample from their parameters or activations, which not only allows for differentiable learning in QNNs, but also reduces the variance in gradients. We demonstrate BQNs achieve both lower predictive errors and better-calibrated uncertainties than E-QNN (with less than 20% of the negative log-likelihood). A Bayesian approach to deep learning considers the network's parameters to be random variables and seeks to infer their posterior distribution given the training data. Models trained this way, called Bayesian neural networks (BNNs) (Wang & Y eung, 2016), in principle have well-calibrated uncertainties when they make predictions, which is important in scenarios such as active learning and reinforcement learning (Gal, 2016). Furthermore, the posterior distribution over the model parameters provides valuable information for evaluation and compression of neural networks. There are three main challenges in using BNNs: (1) Intractable posterior: Computing and storing the exact posterior distribution over the network weights is intractable due to the complexity and high-dimensionality of deep networks. These challenges are typically addressed either by making simplifying assumptions about the distributions of the parameters and activations, or by using sampling-based approaches, which are expensive and unreliable (likely to overestimate the uncertainties in predictions). Our goal is to propose a sampling-free method which uses probabilistic propagation to deterministically learn BNNs. A seemingly unrelated area of deep learning research is that of quantized neural networks (QNNs), which offer advantages of computational and memory efficiency compared to continuous-valued models.

This paper presents a variational Bayesian kernel selection (VBKS) algorithm for sparse Gaussian process regression (SGPR) models. In contrast to existing GP kernel selection algorithms that aim to select only one kernel with the highest model evidence, our proposed VBKS algorithm considers the kernel as a random variable and learns its belief from data such that the uncertainty of the kernel can be interpreted and exploited to avoid overconfident GP predictions. To achieve this, we represent the probabilistic kernel as an additional variational variable in a variational inference (VI) framework for SGPR models where its posterior belief is learned together with that of the other variational variables (i.e., inducing variables and kernel hyperparameters). In particular, we transform the discrete kernel belief into a continuous parametric distribution via reparameterization in order to apply VI. Though it is computationally challenging to jointly optimize a large number of hyperparameters due to many kernels being evaluated simultaneously by our VBKS algorithm, we show that the variational lower bound of the log-marginal likelihood can be decomposed into an additive form such that each additive term depends only on a disjoint subset of the variational variables and can thus be optimized independently. Stochastic optimization is then used to maximize the variational lower bound by iteratively improving the variational approximation of the exact posterior belief via stochastic gradient ascent, which incurs constant time per iteration and hence scales to big data. We empirically evaluate the performance of our VBKS algorithm on synthetic and massive real-world datasets.

Normalizing flows provide a general mechanism for defining expressive probability distributions, only requiring the specification of a (usually simple) base distribution and a series of bijective transformations. There has been much recent work on normalizing flows, ranging from improving their expressive power to expanding their application. We believe the field has now matured and is in need of a unified perspective. In this review, we attempt to provide such a perspective by describing flows through the lens of probabilistic modeling and inference. We place special emphasis on the fundamental principles of flow design, and discuss foundational topics such as expressive power and computational trade-offs. We also broaden the conceptual framing of flows by relating them to more general probability transformations. Lastly, we summarize the use of flows for tasks such as generative modeling, approximate inference, and supervised learning.

Deep ensembles have been empirically shown to be a promising approach for improving accuracy, uncertainty and out-of-distribution robustness of deep learning models. While deep ensembles were theoretically motivated by the bootstrap, non-bootstrap ensembles trained with just random initialization also perform well in practice, which suggests that there could be other explanations for why deep ensembles work well. Bayesian neural networks, which learn distributions over the parameters of the network, are theoretically well-motivated by Bayesian principles, but do not perform as well as deep ensembles in practice, particularly under dataset shift. One possible explanation for this gap between theory and practice is that popular scalable approximate Bayesian methods tend to focus on a single mode, whereas deep ensembles tend to explore diverse modes in function space. We investigate this hypothesis by building on recent work on understanding the loss landscape of neural networks and adding our own exploration to measure the similarity of functions in the space of predictions. Our results show that random initializations explore entirely different modes, while functions along an optimization trajectory or sampled from the subspace thereof cluster within a single mode predictions-wise, while often deviating significantly in the weight space. We demonstrate that while low-loss connectors between modes exist, they are not connected in the space of predictions. Developing the concept of the diversity--accuracy plane, we show that the decorrelation power of random initializations is unmatched by popular subspace sampling methods.

Recently there has been an increase in the studies on time - series data mining specifically time - series clustering due to the vast existe nce of time - series in various domains. The large volume of data in the form of time - series make s it necessary to employ various techniques such as clustering to understand the data and to extract information and hidden patterns. In the field of clustering specifically, time - series clustering, the most important aspects are the similarity measure used and the algorithm employed to conduct the clustering. In this paper, a new similarity measure for time - series clustering is developed based on a combination of a simple representation of time - series, slope of each segment of time - series, Euclidean distance and the so - called dynamic time warping. It is proved in this paper that the proposed distance measure is metric and thus indexing can be applied. For the task of clustering, the Particle Swarm Optimization algorithm is employed. The proposed similarity measure is compared to three existing measures in terms of various criteria used for the evaluation of clustering algorithms. The results indicate that the propo sed similarity measure outperforms the rest in almost every dataset used in this paper.

Clustering with variable selection is a challenging but critical task for modern small-n-large-p data. Existing methods based on Gaussian mixture models or sparse K-means provide solutions to continuous data. With the prevalence of RNA-seq technology and lack of count data modeling for clustering, the current practice is to normalize count expression data into continuous measures and apply existing models with Gaussian assumption. In this paper, we develop a negative binomial mixture model with gene regularization to cluster samples (small $n$) with high-dimensional gene features (large $p$). EM algorithm and Bayesian information criterion are used for inference and determining tuning parameters. The method is compared with sparse Gaussian mixture model and sparse K-means using extensive simulations and two real transcriptomic applications in breast cancer and rat brain studies. The result shows superior performance of the proposed count data model in clustering accuracy, feature selection and biological interpretation by pathway enrichment analysis.