In this paper, we propose a biologically-plausible model to explain the emergence of motion tracking behaviour in early development using unsupervised learning. The model's training is biased by a concept called retinal constancy, which measures how similar visual contents are between successive frames. This biasing is similar to a reward in reinforcement learning, but is less explicit, as it modulates the model's learning rate instead of being a learning signal itself. The model is a two-layer deep network. The first layer learns to encode visual motion, and the second layer learns to relate that motion to gaze movements, which it perceives and creates through bi-directional nodes. By randomly generating gaze movements to traverse the local visual space, desirable correlations are developed between visual motion and the appropriate gaze to nullify that motion such that maximal retinal constancy is achieved. Biologically, this is similar to using saccades to look around and learning from moments where a target and the saccade move together such that the image stays the same on the retina, and developing smooth pursuit behaviour to perform this action in the future. Restricted Boltzmann machines are used to implement this model because they can form a deep belief network, perform online learning, and act generatively. These properties all have biological equivalents and coincide with the biological plausibility of using saccades as leverage to learn smooth pursuit. This method is unique because it uses general machine learning algorithms, and their inherent generative properties, to learn from real-world data. It also implements a biological theory, uses motion instead of recognition via local searches, without temporal filtering, and learns in a fully unsupervised manner. Its tracking performance after being trained on real-world images with simulated motion is compared to its tracking performance after being trained on natural video. Results show that this model is able to successfully follow targets in natural video, despite partial occlusions, scale changes, and nonlinear motion.

Several recently developed Multi-Agent Path Finding (MAPF) solvers scale to large MAPF instances by searching for MAPF plans on 2 levels: The high-level search resolves collisions between agents, and the low-level search plans paths for single agents under the constraints imposed by the high-level search. We make the following contributions to solve the MAPF problem with imperfect plan execution with small average makespans: First, we formalize the MAPF Problem with Delay Probabilities (MAPF-DP), define valid MAPF-DP plans and propose the use of robust plan-execution policies for valid MAPF-DP plans to control how each agent proceeds along its path. Second, we discuss 2 classes of decentralized robust plan-execution policies (called Fully Synchronized Policies and Minimal Communication Policies) that prevent collisions during plan execution for valid MAPF-DP plans. Third, we present a 2-level MAPF-DP solver (called Approximate Minimization in Expectation) that generates valid MAPF-DP plans.

Adverse drug reaction (ADR) is a major burden for patients and healthcare industry. It usually causes preventable hospitalizations and deaths, while associated with a huge amount of cost. Traditional preclinical in vitro safety profiling and clinical safety trials are restricted in terms of small scale, long duration, huge financial costs and limited statistical signifi- cance. The availability of large amounts of drug and ADR data potentially allows ADR predictions during the drugs’ early preclinical stage with data analytics methods to inform more targeted clinical safety tests. Despite their initial success, existing methods have trade-offs among interpretability, predictive power and efficiency. This urges us to explore methods that could have all these strengths and provide practical solutions for real world ADR predictions. We cast the ADR-drug relation structure into a three-layer hierarchical Bayesian model. We interpret each ADR as a symbolic word and apply latent Dirichlet allocation (LDA) to learn topics that may represent certain biochemical mechanism that relates ADRs with drug structures. Based on LDA, we designed an equivalent regularization term to incorporate the hierarchical ADR domain knowledge. Finally, we developed a mixed input model leveraging a fast collapsed Gibbs sampling method that the complexity of each iteration of Gibbs sampling proportional only to the number of positive ADRs. Experiments on real world data show our models achieved higher prediction accuracy and shorter running time than the state-of-the-art alternatives.

Online joint parameter and state estimation is a core problem for temporal models.Most existing methods are either restricted to a particular class of models (e.g., the Storvik filter) or computationally expensive (e.g., particle MCMC). We propose a novel nearly-black-box algorithm, the Assumed Parameter Filter (APF), a hybrid of particle filtering for state variables and assumed density filtering for parameter variables.It has the following advantages:(a) it is online and computationally efficient;(b) it is applicable to both discrete and continuous parameter spaces with arbitrary transition dynamics.On a variety of toy and real models, APF generates more accurate results within a fixed computation budget compared to several standard algorithms from the literature.

Structured regression on graphs aims to predict response variables from multiple nodes by discovering and exploiting the dependency structure among response variables. This problem is challenging since dependencies among response variables are always unknown, and the associated prior knowledge is non-symmetric. In previous studies, various promising solutions were proposed to improve structured regression by utilizing symmetric prior knowledge, learning sparse dependency structure among response variables, or learning representations of attributes of multiple nodes. However, none of them are capable of efficiently learning dependency structure while incorporating non-symmetric prior knowledge. To achieve these objectives, we proposed Continuous Conditional Dependency Network (CCDN) for structured regression. The intuitive idea behind this model is that each response variable is not only dependent on attributes from the same node, but also on response variables from all other nodes. This results in a joint modeling of local conditional probabilities. The parameter learning is formulated as a convex optimization problem and an effective sampling algorithm is proposed for inference. CCDN is flexible in absorbing non-symmetric prior knowledge. The performance of CCDN on multiple datasets provides evidence of its structure recovery ability and superior effectiveness and efficiency as compared to the state-of-the-art alternatives.

Link prediction is a fundamental task in such areas as social network analysis, information retrieval, and bioinformatics. Usually link prediction methods use the link structures or node attributes as the sources of information. Recently, the relational topic model (RTM) and its variants have been proposed as hybrid methods that jointly model both sources of information and achieve very promising accuracy. However, the representations (features) learned by them are still not effective enough to represent the nodes (items). To address this problem, we generalize recent advances in deep learning from solely modeling i.i.d. sequences of attributes to jointly modeling graphs and non-i.i.d. sequences of attributes. Specifically, we follow the Bayesian deep learning framework and devise a hierarchical Bayesian model, called relational deep learning (RDL), to jointly model high-dimensional node attributes and link structures with layers of latent variables. Due to the multiple nonlinear transformations in RDL, standard variational inference is not applicable. We propose to utilize the product of Gaussians (PoG) structure in RDL to relate the inferences on different variables and derive a generalized variational inference algorithm for learning the variables and predicting the links. Experiments on three real-world datasets show that RDL works surprisingly well and significantly outperforms the state of the art.

Multi-agent planning problems with constraints on global resource consumption occur in several domains. Existing algorithms for solving Multi-agent Markov Decision Processes can compute policies that meet a resource constraint in expectation, but these policies provide no guarantees on the probability that a resource constraint violation will occur. We derive a method to bound constraint violation probabilities using Hoeffding's inequality. This method is applied to two existing approaches for computing policies satisfying constraints: the Constrained MDP framework and a Column Generation approach. We also introduce an algorithm to adaptively relax the bound up to a given maximum violation tolerance. Experiments on a hard toy problem show that the resulting policies outperform static optimal resource allocations to an arbitrary level. By testing the algorithms on more realistic planning domains from the literature, we demonstrate that the adaptive bound is able to efficiently trade off violation probability with expected value, outperforming state-of-the-art planners.

We are interested in exploring the possibility and benefits of structure learning for deep models. As the first step, this paper investigates the matter for Restricted Boltzmann Machines (RBMs) . We conduct the study with Replicated Softmax, a variant of RBMs for unsupervised text analysis. We present a method for learning what we call Sparse Boltzmann Machines , where each hidden unit is connected to a subset of the visible units instead of all of them.  Empirical results show that the method yields models with significantly improved model fit and interpretability as compared with RBMs where each hidden unit is connected to all visible units.

In many fields in computational sustainability, applications of POMDPs are inhibited by the complexity of the optimal solution. One way of delivering simple solutions is to represent the policy with a small number of alpha-vectors. We would like to find the best possible policy that can be expressed using a fixed number N of alpha-vectors. We call this the N-POMDP problem. The existing solver alpha-min approximately solves finite-horizon POMDPs with a controllable number of alpha-vectors. However alpha-min is a greedy algorithm without performance guarantees, and it is rather slow. This paper proposes three new algorithms, based on a general approach that we call alpha-min-2. These three algorithms are able to approximately solve N-POMDPs. Alpha-min-2-fast (heuristic) and alpha-min-2-p (with performance guarantees) are designed to complement an existing POMDP solver, while alpha-min-2-solve (heuristic) is a solver itself. Complexity results are provided for each of the algorithms, and they are tested on well-known benchmarks. These new algorithms will help users to interpret solutions to POMDP problems in computational sustainability.

We address the problem of general function release under differential privacy, by developing a functional mechanism that applies under the weak assumptions of oracle access to target function evaluation and sensitivity. These conditions permit treatment of functions described explicitly or implicitly as algorithmic black boxes. We achieve this result by leveraging the iterated Bernstein operator for polynomial approximation of the target function, and polynomial coefficient perturbation. Under weak regularity conditions, we establish fast rates on utility measured by high-probability uniform approximation. We provide a lower bound on the utility achievable for any functional mechanism that is epsilon-differentially private. The generality of our mechanism is demonstrated by the analysis of a number of example learners, including naive Bayes, non-parametric estimators and regularized empirical risk minimization. Competitive rates are demonstrated for kernel density estimation; and epsilon-differential privacy is achieved for a broader class of support vector machines than known previously.