Variational inference methods for latent variable statistical models have gained popularity because they are relatively fast, can handle large data sets, and have deterministic convergence guarantees. However, in practice it is unclear whether the fixed point identified by the variational inference algorithm is a local or a global optimum. Here, we propose a method for constructing iterative optimization algorithms for variational inference problems that are guaranteed to converge to the $\epsilon$-global variational lower bound on the log-likelihood. We derive inference algorithms for two variational approximations to a standard Bayesian Gaussian mixture model (BGMM). We present a minimal data set for empirically testing convergence and show that a variational inference algorithm frequently converges to a local optimum while our algorithm always converges to the globally optimal variational lower bound. We characterize the loss incurred by choosing a non-optimal variational approximation distribution suggesting that selection of the approximating variational distribution deserves as much attention as the selection of the original statistical model for a given data set.

We study primal-dual type stochastic optimization algorithms with non-uniform sampling. Our main theoretical contribution in this paper is to present a convergence analysis of Stochastic Primal Dual Coordinate (SPDC) Method with arbitrary sampling. Based on this theoretical framework, we propose Optimality Violation-based Sampling SPDC (ovsSPDC), a non-uniform sampling method based on Optimality Violation. We also propose two efficient heuristic variants of ovsSPDC called ovsSDPC+ and ovsSDPC++. Through intensive numerical experiments, we demonstrate that the proposed method and its variants are faster than other state-of-the-art primal-dual type stochastic optimization methods.

Model predictive control (MPC) is a popular control method that has proved effective for robotics, among other fields. MPC performs re-planning at every time step. Re-planning is done with a limited horizon per computational and real-time constraints and often also for robustness to potential model errors. However, the limited horizon leads to suboptimal performance. In this work, we consider the iterative learning setting, where the same task can be repeated several times, and propose a policy improvement scheme for MPC. The main idea is that between executions we can, offline, run MPC with a longer horizon, resulting in a hindsight plan. To bring the next real-world execution closer to the hindsight plan, our approach learns to re-shape the original cost function with the goal of satisfying the following property: short horizon planning (as realistic during real executions) with respect to the shaped cost should result in mimicking the hindsight plan. This effectively consolidates long-term reasoning into the short-horizon planning. We empirically evaluate our approach in contact-rich manipulation tasks both in simulated and real environments, such as peg insertion by a real PR2 robot.

Decentralized optimization algorithms have received much attention due to the recent advances in network information processing. However, conventional decentralized algorithms based on projected gradient descent are incapable of handling high dimensional constrained problems, as the projection step becomes computationally prohibitive to compute. To address this problem, this paper adopts a projection-free optimization approach, a.k.a.~the Frank-Wolfe (FW) or conditional gradient algorithm. We first develop a decentralized FW (DeFW) algorithm from the classical FW algorithm. The convergence of the proposed algorithm is studied by viewing the decentralized algorithm as an inexact FW algorithm. Using a diminishing step size rule and letting $t$ be the iteration number, we show that the DeFW algorithm's convergence rate is ${\cal O}(1/t)$ for convex objectives; is ${\cal O}(1/t^2)$ for strongly convex objectives with the optimal solution in the interior of the constraint set; and is ${\cal O}(1/\sqrt{t})$ towards a stationary point for smooth but non-convex objectives. We then show that a consensus-based DeFW algorithm meets the above guarantees with two communication rounds per iteration. Furthermore, we demonstrate the advantages of the proposed DeFW algorithm on low-complexity robust matrix completion and communication efficient sparse learning. Numerical results on synthetic and real data are presented to support our findings.

Prescriptive analytics is about using data and analytics to improve decisions and therefore the effectiveness of actions. Isn't that what all analytics should be about? A hearty "yes" to that because, if analytics does not lead to more informed decisions and more effective actions, then why do it at all? Many wrongly and incompletely define prescriptive analytics as the what comes after predictive analytics. Our research indicates that prescriptive analytics is not a specific type of analytics, but rather an umbrella term for many types of analytics that can improve decisions. Think of the term "prescriptive" as the goal of all these analytics -- to make more effective decisions -- rather than a specific analytical technique.

Estimation of the number of endmembers existing in a scene constitutes a critical task in the hyperspectral unmixing process. The accuracy of this estimate plays a crucial role in subsequent unsupervised unmixing steps i.e., the derivation of the spectral signatures of the endmembers (endmembers' extraction) and the estimation of the abundance fractions of the pixels. A common practice amply followed in literature is to treat endmembers' number estimation and unmixing, independently as two separate tasks, providing the outcome of the former as input to the latter. In this paper, we go beyond this computationally demanding strategy. More precisely, we set forth a multiple constrained optimization framework, which encapsulates endmembers' number estimation and unsupervised unmixing in a single task. This is attained by suitably formulating the problem via a low-rank and sparse nonnegative matrix factorization rationale, where low-rankness is promoted with the use of a sophisticated $\ell_2/\ell_1$ norm penalty term. An alternating proximal algorithm is then proposed for minimizing the emerging cost function. The results obtained by simulated and real data experiments verify the effectiveness of the proposed approach.

Network analysis has been a very active area of research with applications to social sciences, biology and marketing, to name a few. A fundamental problem in network data analysis is community detection, or clustering: Given a collection of nodes and a similarity matrix among them, interpreted as the adjacency matrix of a (weighted) network, one wants to partition the nodes into clusters, or communities, of high similarity. For undirected networks, a popular model for community-structured networks is the stochastic block model (SBM) [1] and its variants [2, 3], which have been extensively investigated in recent years both in terms of theoretical properties and efficient fitting algorithms. See, for instance [4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18] for a sample of the work. On the other hand, a natural structure is often present in many real networks, that of being bipartite, where nodes are divided into two sets, or sides, and only connections between nodes of different sides are allowed.

We present mlrMBO, a flexible and comprehensive R toolbox for model-based optimization (MBO), also known as Bayesian optimization, which addresses the problem of expensive black-box optimization by approximating the given objective function through a surrogate regression model. It is designed for both single- and multi-objective optimization with mixed continuous, categorical and conditional parameters. Additional features include multi-point batch proposal, parallelization, visualization, logging and error-handling. mlrMBO is implemented in a modular fashion, such that single components can be easily replaced or adapted by the user for specific use cases, e.g., any regression learner from the mlr toolbox for machine learning can be used, and infill criteria and infill optimizers are easily exchangeable. We empirically demonstrate that mlrMBO provides state-of-the-art performance by comparing it on different benchmark scenarios against a wide range of other optimizers, including DiceOptim, rBayesianOptimization, SPOT, SMAC, Spearmint, and Hyperopt.

We propose a novel Bayesian Optimization approach for black-box functions with an environmental variable whose value determines the tradeoff between evaluation cost and the fidelity of the evaluations. Further, we use a novel approach to sampling support points, allowing faster construction of the acquisition function. This allows us to achieve optimization with lower overheads than previous approaches and is implemented for a more general class of problem. We show this approach to be effective on synthetic and real world benchmark problems.

In this post on my series on "Optimization Methods for Large-Scale Machine Learning" by Bottou, Curtis, and Nocedal, I want to focus on model building in machine learning. Section 2 of the paper describes several case studies, with the purpose of showing how "the process of machine learning leads to the selection of a prediction function through solving an optimization problem." A prediction function is a mathematical function that links the model inputs to the quantity we wish to predict. From the practitioner's point of view, a prediction function is implicitly specified by the technique the data scientist has chosen (for example, regression or neural networks) and trained model parameters (what is actually learned when the technique is applied to data). For example, the structure of a neural network amounts to a description of a family of related functions.