This paper proposes an online, provably robust, and scalable Bayesian approach for changepoint detection. The resulting algorithm has key advantages over previous work: it provides provable robustness by leveraging the generalised Bayesian perspective, and also addresses the scalability issues of previous attempts. Specifically, the proposed generalised Bayesian formalism leads to conjugate posteriors whose parameters are available in closed form by leveraging diffusion score matching. The resulting algorithm is exact, can be updated through simple algebra, and is more than 10 times faster than its closest competitor.

Modern statistical estimation is often performed in a distributed setting where each sample belongs to a single user who shares their data with a central server. Users are typically concerned with preserving the privacy of their samples, and also with minimizing the amount of data they must transmit to the server. We give improved private and communication-efficient algorithms for estimating several popular measures of the entropy of a distribution. All of our algorithms have constant communication cost and satisfy local differential privacy. For a joint distribution over many variables whose conditional independence is given by a tree, we describe algorithms for estimating Shannon entropy that require a number of samples that is linear in the number of variables, compared to the quadratic sample complexity of prior work. We also describe an algorithm for estimating Gini entropy whose sample complexity has no dependence on the support size of the distribution and can be implemented using a single round of concurrent communication between the users and the server. In contrast, the previously best-known algorithm has high communication cost and requires the server to facilitate interaction between the users. Finally, we describe an algorithm for estimating collision entropy that generalizes the best known algorithm to the private and communication-efficient setting.

SARSA, a classical on-policy control algorithm for reinforcement learning, is known to chatter when combined with linear function approximation: SARSA does not diverge but oscillates in a bounded region. However, little is known about how fast SARSA converges to that region and how large the region is. In this paper, we make progress towards this open problem by showing the convergence rate of projected SARSA to a bounded region. Importantly, the region is much smaller than the region that we project into, provided that the magnitude of the reward is not too large. Existing works regarding the convergence of linear SARSA to a fixed point all require the Lipschitz constant of SARSA's policy improvement operator to be sufficiently small; our analysis instead applies to arbitrary Lipschitz constants and thus characterizes the behavior of linear SARSA for a new regime.

Combining predictions from different models is a central problem in Bayesian inference and machine learning more broadly. Currently, these predictive distributions are almost exclusively combined using linear mixtures such as Bayesian model averaging, Bayesian stacking, and mixture of experts. Such linear mixtures impose idiosyncrasies that might be undesirable for some applications, such as multi-modality. While there exist alternative strategies (e.g. geometric bridge or superposition), optimising their parameters usually involves computing an intractable normalising constant repeatedly. We present two novel Bayesian model combination tools. These are generalisations of model stacking, but combine posterior densities by log-linear pooling (locking) and quantum superposition (quacking). To optimise model weights while avoiding the burden of normalising constants, we investigate the Hyvarinen score of the combined posterior predictions. We demonstrate locking with an illustrative example and discuss its practical application with importance sampling.

Originally introduced as a neural network for ensemble learning, mixture of experts (MoE) has recently become a fundamental building block of highly successful modern deep neural networks for heterogeneous data analysis in several applications, including those in machine learning, statistics, bioinformatics, economics, and medicine. Despite its popularity in practice, a satisfactory level of understanding of the convergence behavior of Gaussian-gated MoE parameter estimation is far from complete. The underlying reason for this challenge is the inclusion of covariates in the Gaussian gating and expert networks, which leads to their intrinsically complex interactions via partial differential equations with respect to their parameters. We address these issues by designing novel Voronoi loss functions to accurately capture heterogeneity in the maximum likelihood estimator (MLE) for resolving parameter estimation in these models. Our results reveal distinct behaviors of the MLE under two settings: the first setting is when all the location parameters in the Gaussian gating are non-zeros while the second setting is when there exists at least one zero-valued location parameter. Notably, these behaviors can be characterized by the solvability of two different systems of polynomial equations. Finally, we conduct a simulation study to verify our theoretical results.

Modern statistical learning algorithms are capable of amazing flexibility, but struggle with interpretability. One possible solution is sparsity: making inference such that many of the parameters are estimated as being identically 0, which may be imposed through the use of nonsmooth penalties such as the $\ell_1$ penalty. However, the $\ell_1$ penalty introduces significant bias when high sparsity is desired. In this article, we retain the $\ell_1$ penalty, but define learnable penalty weights $\lambda_p$ endowed with hyperpriors. We start the article by investigating the optimization problem this poses, developing a proximal operator associated with the $\ell_1$ norm. We then study the theoretical properties of this variable-coefficient $\ell_1$ penalty in the context of penalized likelihood. Next, we investigate application of this penalty to Variational Bayes, developing a model we call the Sparse Bayesian Lasso which allows for behavior qualitatively like Lasso regression to be applied to arbitrary variational models. In simulation studies, this gives us the Uncertainty Quantification and low bias properties of simulation-based approaches with an order of magnitude less computation. Finally, we apply our methodology to a Bayesian lagged spatiotemporal regression model of internal displacement that occurred during the Iraqi Civil War of 2013-2017.

In robotics, simulation has the potential to reduce design time and costs, and lead to a more robust engineered solution and a safer development process. However, the use of simulators is predicated on the availability of good models. This contribution is concerned with improving the quality of these models via calibration, which is cast herein in a Bayesian framework. First, we discuss the Bayesian machinery involved in model calibration. Then, we demonstrate it in one example: calibration of a vehicle dynamics model that has low degree of freedom count and can be used for state estimation, model predictive control, or path planning. A high fidelity simulator is used to emulate the ``experiments'' and generate the data for the calibration. The merit of this work is not tied to a new Bayesian methodology for calibration, but to the demonstration of how the Bayesian machinery can establish connections among models in computational dynamics, even when the data in use is noisy. The software used to generate the results reported herein is available in a public repository for unfettered use and distribution.

In this study, we demonstrate a sequential experimental design for spectral measurements by active learning using parametric models as predictors. In spectral measurements, it is necessary to reduce the measurement time because of sample fragility and high energy costs. To improve the efficiency of experiments, sequential experimental designs are proposed, in which the subsequent measurement is designed by active learning using the data obtained before the measurement. Conventionally, parametric models are employed in data analysis; when employed for active learning, they are expected to afford a sequential experimental design that improves the accuracy of data analysis. However, due to the complexity of the formulas, a sequential experimental design using general parametric models has not been realized. Therefore, we applied Bayesian inference-based data analysis using the exchange Monte Carlo method to realize a sequential experimental design with general parametric models. In this study, we evaluated the effectiveness of the proposed method by applying it to Bayesian spectral deconvolution and Bayesian Hamiltonian selection in X-ray photoelectron spectroscopy. Using numerical experiments with artificial data, we demonstrated that the proposed method improves the accuracy of model selection and parameter estimation while reducing the measurement time compared with the results achieved without active learning or with active learning using the Gaussian process regression.

Effective communication is crucial for deploying robots in mission-specific tasks, but inadequate or unreliable communication can greatly reduce mission efficacy, for example in search and rescue missions where communication-denied conditions may occur. In such missions, robots are deployed to locate targets, such as human survivors, but they might get trapped at hazardous locations, such as in a trapping pit or by debris. Thus, the information the robot collected is lost owing to the lack of communication. In our prior work, we developed the notion of a path-based sensor. A path-based sensor detects whether or not an event has occurred along a particular path, but it does not provide the exact location of the event. Such path-based sensor observations are well-suited to communication-denied environments, and various studies have explored methods to improve information gathering in such settings. In some missions it is typical for target elements to be in close proximity to hazardous factors that hinder the information-gathering process. In this study, we examine a similar scenario and conduct experiments to determine if additional knowledge about the correlation between hazards and targets improves the efficiency of information gathering. To incorporate this knowledge, we utilize a Bayesian network representation of domain knowledge and develop an algorithm based on this representation. Our empirical investigation reveals that such additional information on correlation is beneficial only in environments with moderate hazard lethality, suggesting that while knowledge of correlation helps, further research and development is necessary for optimal outcomes.

If $X,Y,Z$ denote sets of random variables, two different data sources may contain samples from $P_{X,Y}$ and $P_{Y,Z}$, respectively. We argue that causal discovery can help inferring properties of the `unobserved joint distributions' $P_{X,Y,Z}$ or $P_{X,Z}$. The properties may be conditional independences (as in `integrative causal inference') or also quantitative statements about dependences. More generally, we define a learning scenario where the input is a subset of variables and the label is some statistical property of that subset. Sets of jointly observed variables define the training points, while unobserved sets are possible test points. To solve this learning task, we infer, as an intermediate step, a causal model from the observations that then entails properties of unobserved sets. Accordingly, we can define the VC dimension of a class of causal models and derive generalization bounds for the predictions. Here, causal discovery becomes more modest and better accessible to empirical tests than usual: rather than trying to find a causal hypothesis that is `true' a causal hypothesis is {\it useful} whenever it correctly predicts statistical properties of unobserved joint distributions. This way, a sparse causal graph that omits weak influences may be more useful than a dense one (despite being less accurate) because it is able to reconstruct the full joint distribution from marginal distributions of smaller subsets. Within such a `pragmatic' application of causal discovery, some popular heuristic approaches become justified in retrospect. It is, for instance, allowed to infer DAGs from partial correlations instead of conditional independences if the DAGs are only used to predict partial correlations.