In this paper, we address the problem of convergence of sequential variational inference filter (VIF) through the application of a robust variational objective and Hinf-norm based correction for a linear Gaussian system. As the dimension of state or parameter space grows, performing the full Kalman update with the dense covariance matrix for a large scale system requires increased storage and computational complexity, making it impractical. The VIF approach, based on mean-field Gaussian variational inference, reduces this burden through the variational approximation to the covariance usually in the form of a diagonal covariance approximation. The challenge is to retain convergence and correct for biases introduced by the sequential VIF steps. We desire a framework that improves feasibility while still maintaining reasonable proximity to the optimal Kalman filter as data is assimilated. To accomplish this goal, a Hinf-norm based optimization perturbs the VIF covariance matrix to improve robustness. This yields a novel VIF- Hinf recursion that employs consecutive variational inference and Hinf based optimization steps. We explore the development of this method and investigate a numerical example to illustrate the effectiveness of the proposed filter.

We propose a novel federated learning paradigm to model data variability among heterogeneous clients in multi-centric studies. Our method is expressed through a hierarchical Bayesian latent variable model, where client-specific parameters are assumed to be realization from a global distribution at the master level, which is in turn estimated to account for data bias and variability across clients. We show that our framework can be effectively optimized through expectation maximization (EM) over latent master's distribution and clients' parameters. We also introduce formal differential privacy (DP) guarantees compatibly with our EM optimization scheme. We tested our method on the analysis of multi-modal medical imaging data and clinical scores from distributed clinical datasets of patients affected by Alzheimer's disease. We demonstrate that our method is robust when data is distributed either in iid and non-iid manners, even when local parameters perturbation is included to provide DP guarantees. Moreover, the variability of data, views and centers can be quantified in an interpretable manner, while guaranteeing high-quality data reconstruction as compared to state-of-the-art autoencoding models and federated learning schemes.

This paper considers the problem of finding a landing spot for a drone in a dense urban environment. The conflicting requirement of fast exploration and high resolution is solved using a multi-resolution approach, by which visual information is collected by the drone at decreasing altitudes so that spatial resolution of the acquired images increases monotonically. A probability distribution is used to capture the uncertainty of the decision process for each terrain patch. The distributions are updated as information from different altitudes is collected. When the confidence level for one of the patches becomes larger than a pre-specified threshold, suitability for landing is declared. One of the main building blocks of the approach is a semantic segmentation algorithm that attaches probabilities to each pixel of a single view. The decision algorithm combines these probabilities with a priori data and previous measurements to obtain the best estimates. Feasibility is illustrated by presenting a number of examples generated by a realistic closed-loop simulator.

Knowing the Galactic 3D dust distribution is relevant for understanding many processes in the interstellar medium and for correcting many astronomical observations for dust absorption and emission. Here, we aim for a 3D reconstruction of the Galactic dust distribution with an increase in the number of meaningful resolution elements by orders of magnitude with respect to previous reconstructions, while taking advantage of the dust's spatial correlations to inform the dust map. We use iterative grid refinement to define a log-normal process in spherical coordinates. This log-normal process assumes a fixed correlation structure, which was inferred in an earlier reconstruction of Galactic dust. Our map is informed through 111 Million data points, combining data of PANSTARRS, 2MASS, Gaia DR2 and ALLWISE. The log-normal process is discretized to 122 Billion degrees of freedom, a factor of 400 more than our previous map. We derive the most probable posterior map and an uncertainty estimate using natural gradient descent and the Fisher-Laplace approximation. The dust reconstruction covers a quarter of the volume of our Galaxy, with a maximum coordinate distance of $16\,\text{kpc}$, and meaningful information can be found up to at distances of $4\,$kpc, still improving upon our earlier map by a factor of 5 in maximal distance, of $900$ in volume, and of about eighteen in angular grid resolution. Unfortunately, the maximum posterior approach chosen to make the reconstruction computational affordable introduces artifacts and reduces the accuracy of our uncertainty estimate. Despite of the apparent limitations of the presented 3D dust map, a good part of the reconstructed structures are confirmed by independent maser observations. Thus, the map is a step towards reliable 3D Galactic cartography and already can serve for a number of tasks, if used with care.

Initial work on variational autoencoders assumed independent latent variables with simple distributions. Subsequent work has explored incorporating more complex distributions and dependency structures: including normalizing flows in the encoder network allows latent variables to entangle non-linearly, creating a richer class of distributions for the approximate posterior, and stacking layers of latent variables allows more complex priors to be specified for the generative model. This work explores incorporating arbitrary dependency structures, as specified by Bayesian networks, into VAEs. This is achieved by extending both the prior and inference network with graphical residual flows - residual flows that encode conditional independence by masking the weight matrices of the flow's residual blocks. We compare our model's performance on several synthetic datasets and show its potential in data-sparse settings.

We describe a stochastic, dynamical system capable of inference and learning in a probabilistic latent variable model. The most challenging problem in such models - sampling the posterior distribution over latent variables - is proposed to be solved by harnessing natural sources of stochasticity inherent in electronic and neural systems. We demonstrate this idea for a sparse coding model by deriving a continuous-time equation for inferring its latent variables via Langevin dynamics. The model parameters are learned by simultaneously evolving according to another continuous-time equation, thus bypassing the need for digital accumulators or a global clock. Moreover we show that Langevin dynamics lead to an efficient procedure for sampling from the posterior distribution in the 'L0 sparse' regime, where latent variables are encouraged to be set to zero as opposed to having a small L1 norm. This allows the model to properly incorporate the notion of sparsity rather than having to resort to a relaxed version of sparsity to make optimization tractable. Simulations of the proposed dynamical system on both synthetic and natural image datasets demonstrate that the model is capable of probabilistically correct inference, enabling learning of the dictionary as well as parameters of the prior.

This is a complete Free course for statistics. In this course, you will learn how to estimate parameters of a population using sample statistics, hypothesis testing and confidence intervals, t-tests and ANOVA, correlation and regression, and chi-squared test. This course is taught by industry professionals and you will learn by doing various exercises.

As a data scientist, I am curious about knowing different analytical processes from a probabilistic point of view. There are two most popular ways of looking into any event, namely Bayesian and Frequentist . When Frequentist researchers look at any event from frequency of occurrence, Bayesian researchers focus more on probability of events happening. I will try to cover as much theory as possible with illustrative examples and sample codes so that readers can learn and practice simultaneously. As we all know Baye's rule is one of the most popular probability equation, which is defined as: P(a given b) P(a intersection b) / P(b) ….. (1) Here a and b are events that have taken place.

In this case, standard stochastic interpolation tools like the common SABR model often cannot be calibrated to observed implied volatility smiles, due to data being only available for the at-the-money quote of the respective underlying swaption. Here, we propose to infer the geometry of the full unknown implied volatility cube by learning stochastic latent representations of implied volatility cubes via variational autoencoders, enabling inference about the missing volatility data conditional on the observed data by an approximate Gibbs sampling approach. Imputed estimates of missing quotes can afterwards be used to fit a standard stochastic volatility model. Since training data for the employed variational autoencoder model is usually sparsely available, we test the robustness of the approach for a model trained on synthetic data on real market quotes and we show that SABR interpolated volatilites calibrated to reconstructed volatility cubes with artificially imputed missing values differ by not much more than two basis points compared to SABR fits calibrated to the complete cube. Moreover, we show how the imputation can be used to successfully set up delta-neutral portfolios for hedging purposes.

This paper tackles the problem of decomposing binary data using matrix factorization. We consider the family of mean-parametrized Bernoulli models, a class of generative models that are well suited for modeling binary data and enables interpretability of the factors. We factorize the Bernoulli parameter and consider an additional Beta prior on one of the factors to further improve the model's expressive power. While similar models have been proposed in the literature, they only exploit the Beta prior as a proxy to ensure a valid Bernoulli parameter in a Bayesian setting; in practice it reduces to a uniform or uninformative prior. Besides, estimation in these models has focused on costly Bayesian inference. In this paper, we propose a simple yet very efficient majorization-minimization algorithm for maximum a posteriori estimation. Our approach leverages the Beta prior whose parameters can be tuned to improve performance in matrix completion tasks. Experiments conducted on three public binary datasets show that our approach offers an excellent trade-off between prediction performance, computational complexity, and interpretability.