The constraints arising from DAG models with latent variables can be naturally represented by means of acyclic directed mixed graphs (ADMGs). Such graphs contain directed and bidirected arrows, and contain no directed cycles. DAGs with latent variables imply independence constraints in the distribution resulting from a 'fixing' operation, in which a joint distribution is divided by a conditional. This operation generalizes marginalizing and conditioning. Some of these constraints correspond to identifiable 'dormant' independence constraints, with the well known 'Verma constraint' as one example. Recently, models defined by a set of the constraints arising after fixing from a DAG with latents, were characterized via a recursive factorization and a nested Markov property. In addition, a parameterization was given in the discrete case. In this paper we use this parameterization to describe a parameter fitting algorithm, and a search and score structure learning algorithm for these nested Markov models. We apply our algorithms to a variety of datasets.

Case vs control comparisons have been the classical approach to the study of neurological diseases. However, most patients will not fall cleanly into either group. Instead, clinicians will typically find patients that cannot be classified as having clearly progressed into the disease state. For those subjects, very little can be said about their brain function on the basis of analyses of group differences. To describe the intermediate brain function requires models that interpolate between the disease states. We have chosen Gaussian Processes (GP) regression to obtain a continuous spectrum of brain activation and to extract the unknown disease progression profile. Our models incorporate spatial distribution of measures of activation, e.g. the correlation of an fMRI trace with an input stimulus, and so constitute ultra-high multi-variate GP regressors. We applied GPs to model fMRI image phenotypes across Alzheimer's Disease (AD) behavioural measures, e.g. MMSE, ACE etc. scores, and obtained predictions at non-observed MMSE/ACE values. The overall model confirmed the known reduction in the spatial extent of activity in response to reading versus false-font stimulation. The predictive uncertainty indicated the worsening confidence intervals at behavioural scores distance from those used for GP training. Thus, the model indicated the type of patient (what behavioural score) that would need to included in the training data to improve models predictions.

Many models of interest in the natural and social sciences have no closed-form likelihood function, which means that they cannot be treated using the usual techniques of statistical inference. In the case where such models can be efficiently simulated, Bayesian inference is still possible thanks to the Approximate Bayesian Computation (ABC) algorithm. Although many refinements have been suggested, ABC inference is still far from routine. ABC is often excruciatingly slow due to very low acceptance rates. In addition, ABC requires introducing a vector of "summary statistics", the choice of which is relatively arbitrary, and often require some trial and error, making the whole process quite laborious for the user. We introduce in this work the EP-ABC algorithm, which is an adaptation to the likelihood-free context of the variational approximation algorithm known as Expectation Propagation (Minka, 2001). The main advantage of EP-ABC is that it is faster by a few orders of magnitude than standard algorithms, while producing an overall approximation error which is typically negligible. A second advantage of EP-ABC is that it replaces the usual global ABC constraint on the vector of summary statistics computed on the whole dataset, by n local constraints of the form that apply separately to each data-point. As a consequence, it is often possible to do away with summary statistics entirely. In that case, EP-ABC approximates directly the evidence (marginal likelihood) of the model. Comparisons are performed in three real-world applications which are typical of likelihood-free inference, including one application in neuroscience which is novel, and possibly too challenging for standard ABC techniques.

We consider probabilistic multinomial probit classification using Gaussian process (GP) priors. The challenges with the multiclass GP classification are the integration over the non-Gaussian posterior distribution, and the increase of the number of unknown latent variables as the number of target classes grows. Expectation propagation (EP) has proven to be a very accurate method for approximate inference but the existing EP approaches for the multinomial probit GP classification rely on numerical quadratures or independence assumptions between the latent values from different classes to facilitate the computations. In this paper, we propose a novel nested EP approach which does not require numerical quadratures, and approximates accurately all between-class posterior dependencies of the latent values, but still scales linearly in the number of classes. The predictive accuracy of the nested EP approach is compared to Laplace, variational Bayes, and Markov chain Monte Carlo (MCMC) approximations with various benchmark data sets. In the experiments nested EP was the most consistent method with respect to MCMC sampling, but the differences between the compared methods were small if only the classification accuracy is concerned.

Today, mobile robots are expected to carry out increasingly complex tasks in multifarious, real-world environments. Often, the tasks require a certain semantic understanding of the workspace. Consider, for example, spoken instructions from a human collaborator referring to objects of interest; the robot must be able to accurately detect these objects to correctly understand the instructions. However, existing object detection, while competent, is not perfect. In particular, the performance of detection algorithms is commonly sensitive to the position of the sensor relative to the objects in the scene. This paper presents an online planning algorithm which learns an explicit model of the spatial dependence of object detection and generates plans which maximize the expected performance of the detection, and by extension the overall plan performance. Crucially, the learned sensor model incorporates spatial correlations between measurements, capturing the fact that successive measurements taken at the same or nearby locations are not independent. We show how this sensor model can be incorporated into an efficient forward search algorithm in the information space of detected objects, allowing the robot to generate motion plans efficiently. We investigate the performance of our approach by addressing the tasks of door and text detection in indoor environments and demonstrate significant improvement in detection performance during task execution over alternative methods in simulated and real robot experiments.

The task of matching co-referent records is known among other names as rocord linkage. For large record-linkage problems, often there is little or no labeled data available, but unlabeled data shows a reasonable clear structure. For such problems, unsupervised or semi-supervised methods are preferable to supervised methods. In this paper, we describe a hierarchical graphical model framework for the linakge-problem in an unsupervised setting. In addition to proposing new methods, we also cast existing unsupervised probabilistic record-linkage methods in this framework. Some of the techniques we propose to minimize overfitting in the above model are of interest in the general graphical model setting. We describe a method for incorporating monotinicity constraints in a graphical model. We also outline a bootstrapping approach of using "single-field" classifiers to noisily label latent variables in a hierarchical model. Experimental results show that our proposed unsupervised methods perform quite competitively even with fully supervised record-linkage methods.

Images obtained with coherent illumination, as is the case of sonar, ultrasound-B, laser and Synthetic Aperture Radar -- SAR, are affected by speckle noise which reduces the ability to extract information from the data. Specialized techniques are required to deal with such imagery, which has been modeled by the G0 distribution and under which regions with different degrees of roughness and mean brightness can be characterized by two parameters; a third parameter, the number of looks, is related to the overall signal-to-noise ratio. Assessing distances between samples is an important step in image analysis; they provide grounds of the separability and, therefore, of the performance of classification procedures. This work derives and compares eight stochastic distances and assesses the performance of hypothesis tests that employ them and maximum likelihood estimation. We conclude that tests based on the triangular distance have the closest empirical size to the theoretical one, while those based on the arithmetic-geometric distances have the best power. Since the power of tests based on the triangular distance is close to optimum, we conclude that the safest choice is using this distance for hypothesis testing, even when compared with classical distances as Kullback-Leibler and Bhattacharyya.

Mixtures of truncated exponentials (MTE) potentials are an alternative to discretization for representing continuous chance variables in influence diagrams. Also, MTE potentials can be used to approximate utility functions. This paper introduces MTE influence diagrams, which can represent decision problems without restrictions on the relationships between continuous and discrete chance variables, without limitations on the distributions of continuous chance variables, and without limitations on the nature of the utility functions. In MTE influence diagrams, all probability distributions and the joint utility function (or its multiplicative factors) are represented by MTE potentials and decision nodes are assumed to have discrete state spaces. MTE influence diagrams are solved by variable elimination using a fusion algorithm.

A diagnostic policy specifies what test to perform next, based on the results of previous tests, and when to stop and make a diagnosis. Cost-sensitive diagnostic policies perform tradeoffs between (a) the cost of tests and (b) the cost of misdiagnoses. An optimal diagnostic policy minimizes the expected total cost. We formalize this diagnosis process as a Markov Decision Process (MDP). We investigate two types of algorithms for solving this MDP: systematic search based on AO* algorithm and greedy search (particularly the Value of Information method). We investigate the issue of learning the MDP probabilities from examples, but only as they are relevant to the search for good policies. We do not learn nor assume a Bayesian network for the diagnosis process. Regularizers are developed to control overfitting and speed up the search. This research is the first that integrates overfitting prevention into systematic search. The paper has two contributions: it discusses the factors that make systematic search feasible for diagnosis, and it shows experimentally, on benchmark data sets, that systematic search methods produce better diagnostic policies than greedy methods.

Exponential models of distributions are widely used in machine learning for classiffication and modelling. It is well known that they can be interpreted as maximum entropy models under empirical expectation constraints. In this work, we argue that for classiffication tasks, mutual information is a more suitable information theoretic measure to be optimized. We show how the principle of minimum mutual information generalizes that of maximum entropy, and provides a comprehensive framework for building discriminative classiffiers. A game theoretic interpretation of our approach is then given, and several generalization bounds provided. We present iterative algorithms for solving the minimum information problem and its convex dual, and demonstrate their performance on various classiffication tasks. The results show that minimum information classiffiers outperform the corresponding maximum entropy models.