A major task is to compute statistics of unobserved random variables using distributions of these variables conditioned on observed data. An exact computation of the corresponding expectations in the multivariate case is usually not possible except for simple cases. Hence, one has to resort to methods which approximate the necessary high-dimensional sums or integrals and which are often based on ideas of statistical physics [1]. A class of such approximation algorithms is often termed message passing. Prominent examples are belief propagation [2] which was developed for inference in probabilistic Bayesian networks with sparse couplings and expectation propagation (EP) which is also applicable for networks with dense coupling matrices [3]. Both types of algorithms make assumptions on weak dependencies between random variables which motivate the approximation of certain expectations by Gaussian random variables invoking central limit theorem arguments [4]. Using ideas of the statistical physics of disordered systems, such arguments can be justified for the fixed points of such algorithms for large network models where couplings are drawn from random, rotation invariant matrix distributions. This extra assumption of randomness allows for further simplifications of message passing approaches [5, 6], leading e.g. to the approximate message passing AMP or VAMP algorithms, see [7, 8, 9].

Human input has enabled autonomous systems to improve their capabilities and achieve complex behaviors that are otherwise challenging to generate automatically. Recent work focuses on how robots can use such input - like demonstrations or corrections - to learn intended objectives. These techniques assume that the human's desired objective already exists within the robot's hypothesis space. In reality, this assumption is often inaccurate: there will always be situations where the person might care about aspects of the task that the robot does not know about. Without this knowledge, the robot cannot infer the correct objective. Hence, when the robot's hypothesis space is misspecified, even methods that keep track of uncertainty over the objective fail because they reason about which hypothesis might be correct, and not whether any of the hypotheses are correct. In this paper, we posit that the robot should reason explicitly about how well it can explain human inputs given its hypothesis space and use that situational confidence to inform how it should incorporate human input. We demonstrate our method on a 7 degree-of-freedom robot manipulator in learning from two important types of human input: demonstrations of manipulation tasks, and physical corrections during the robot's task execution.

The aim of probabilistic programming is to automatize every aspect of probabilistic inference in arbitrary probabilistic models (programs) so that the user can focus her attention on modeling, without dealing with ad-hoc inference methods. Gradient based automatic differentiation stochastic variational inference offers an attractive option as the default method for (differentiable) probabilistic programming as it combines high performance with high computational efficiency. However, the performance of any (parametric) variational approach depends on the choice of an appropriate variational family. Here, we introduced a fully automatic method for constructing structured variational families inspired to the closed-form update in conjugate models. These pseudo-conjugate families incorporate the forward pass of the input probabilistic program and can capture complex statistical dependencies. Pseudo-conjugate families have the same space and time complexity of the input probabilistic program and are therefore tractable in a very large class of models. We validate our automatic variational method on a wide range of high dimensional inference problems including deep learning components.

In this work, we develop a novel Bayesian estimation method for the Dirichlet process (DP) mixture of the inverted Dirichlet distributions, which has been shown to be very flexible for modeling vectors with positive elements. The recently proposed extended variational inference (EVI) framework is adopted to derive an analytically tractable solution. The convergency of the proposed algorithm is theoretically guaranteed by introducing single lower bound approximation to the original objective function in the VI framework. In principle, the proposed model can be viewed as an infinite inverted Dirichelt mixture model (InIDMM) that allows the automatic determination of the number of mixture components from data. Therefore, the problem of pre-determining the optimal number of mixing components has been overcome. Moreover, the problems of over-fitting and under-fitting are avoided by the Bayesian estimation approach. Comparing with several recently proposed DP-related methods, the good performance and effectiveness of the proposed method have been demonstrated with both synthesized data and real data evaluations.

Several countries are currently investigating issues of neglect, poor quality care and abuse in the aged care sector. In most cases it is the State who license and monitor aged care providers, which frequently introduces a serious conflict of interest because the State also operate many of the facilities where our most vulnerable peoples are cared for. Where issues are raised with the standard of care being provided, the State are seen by many as a deep-pockets defendant and become the target of high-value lawsuits. This paper draws on cases and circumstances from one jurisdiction based on the English legal tradition, Australia, and proposes a Bayesian solution capable of determining probability for success for citizen plaintiffs who bring negligence claims against a public authority defendant. Use of a Bayesian network trained on case audit data shows that even when the plaintiff case meets all requirements for a successful negligence litigation, success is not often assured. Only in around one-fifth of these cases does the plaintiff succeed against a public authority as defendant.

Item Response Theory is a ubiquitous algorithm used around the world to understand humans based on their responses to questions in fields as diverse as education, medicine and psychology. However, for medium to large datasets, contemporary solutions pose a tradeoff: either have bayesian, interpretable, accurate estimates or have fast computation. We introduce variational inference and deep generative models to Item Response Theory to offer the best of both worlds. The resulting algorithm is (a) orders of magnitude faster when inferring on the classical model, (b) naturally extends to more complicated input than binary correct/incorrect, and more expressive deep bayesian models of responses. Applying this method to five large-scale item response datasets from cognitive science and education, we find improvements in imputing missing data and better log likelihoods. The open-source algorithm is immediately usable.

A Bayesian network is a graphical model that encodes probabilistic relationships among variables of interest. When used in conjunction with statistical techniques, the graphical model has several advantages for data analysis. One, because the model encodes dependencies among all variables, it readily handles situations where some data entries are missing. Two, a Bayesian network can be used to learn causal relationships, and hence can be used to gain understanding about a problem domain and to predict the consequences of intervention. Three, because the model has both a causal and probabilistic semantics, it is an ideal representation for combining prior knowledge (which often comes in causal form) and data. Four, Bayesian statistical methods in conjunction with Bayesian networks offer an efficient and principled approach for avoiding the overfitting of data. In this paper, we discuss methods for constructing Bayesian networks from prior knowledge and summarize Bayesian statistical methods for using data to improve these models. With regard to the latter task, we describe methods for learning both the parameters and structure of a Bayesian network, including techniques for learning with incomplete data. In addition, we relate Bayesian-network methods for learning to techniques for supervised and unsupervised learning. We illustrate the graphical-modeling approach using a real-world case study.

For instance, penalties are used to improve generalization, prune neurons or reduce the rank of tensors of weights. Therefore, usual penalties are mostly empirical and user-defined, and integrated to the loss as follows: L( w) null( w) r (w), with w the vector of all parameters in the network, null( w) the error term and r (w) the penalty term. From a Bayesian point of view, optimizing such a loss L is equivalent to finding the Maximum A Posteriori (MAP) of the parameters w given the training data and a prior α exp( r). Indeed, assuming that the loss null is a log-likelihood loss, namely, null(w) ln p w( D) with dataset D, then minimizing L is equivalent to minimizing L MAP(w) ln p w(D) ln(α (w)). Thus, within the MAP framework, we can interpret the penalty term r as the influence of a prior α [14]. However, the MAP approximates the Bayesian posterior very roughly, by taking its maximum. Variational Inference (VI) provides a variational posterior distribution rather than a single value, hopefully representing the Bayesian posterior much better. VI looks for the best posterior approximation within a family β u(w) of approximate posteriors over w, parameterized Inria, Team TAU, Gif-sur-Yvette, France † Facebook, France 1 arXiv:2002.00178v1

Nested sampling is an efficient algorithm for the calculation of the Bayesian evidence and posterior parameter probability distributions. It is based on the step-by-step exploration of the parameter space by Monte Carlo sampling with a series of values sets called live points that evolve towards the region of interest, i.e. where the likelihood function is maximal. In presence of several local likelihood maxima, the algorithm converges with difficulty. Some systematic errors can also be introduced by unexplored parameter volume regions. In order to avoid this, different methods are proposed in the literature for an efficient search of new live points, even in presence of local maxima. Here we present a new solution based on the mean shift cluster recognition method implemented in a random walk search algorithm. The clustering recognition is integrated within the Bayesian analysis program NestedFit. It is tested with the analysis of some difficult cases. Compared to the analysis results without cluster recognition, the computation time is considerably reduced. At the same time, the entire parameter space is efficiently explored, which translates into a smaller uncertainty of the extracted value of the Bayesian evidence.

Approximate Bayesian Computation is widely used in systems biology for inferring parameters in stochastic gene regulatory network models. Its performance hinges critically on the ability to summarize high-dimensional system responses such as time series into a few informative, low-dimensional summary statistics. The quality of those statistics critically affect the accuracy of the inference. Existing methods to select the best subset out of a pool of candidate statistics do not scale well with large pools. Since it is imperative for good performance this becomes a serious bottleneck when doing inference on complex and high-dimensional problems. This paper proposes a convolutional neural network architecture for automatically learning informative summary statistics of temporal responses. We show that the proposed network can effectively circumvent the statistics selection problem as a preprocessing step to ABC for a challenging inference problem learning parameters in a high-dimensional stochastic genetic oscillator. We also study the impact of experimental design on network performance by comparing different data richness and different data acquisition strategies.