The discovery of causal relationships is a fundamental problem in science and medicine. In recent years, many elegant approaches to discovering causal relationships between two variables from uncontrolled data have been proposed. However, most of these deal only with purely directed causal relationships and cannot detect latent common causes. Here, we devise a general method which takes a purely directed causal discovery algorithm and modifies it so that it can also detect latent common causes. The identifiability of the modified algorithm depends on the identifiability of the original, as well as an assumption that the strength of noise be relatively small. We apply our method to two directed causal discovery algorithms, the Information Geometric Causal Inference of (Daniusis et al., 2010) and the Kernel Conditional Deviance for Causal Inference of (Mitrovic, Sejdinovic, and Teh, 2018), and extensively test on synthetic data---detecting latent common causes in additive, multiplicative and complex noise regimes---and on real data, where we are able to detect known common causes. In addition to detecting latent common causes, our experiments demonstrate that both modified algorithms preserve the performance of the original directed algorithm in distinguishing directed causal relations.

Temporal Point Processes (TPP) with partial likelihoods involving a latent structure often entail an intractable marginalization, thus making inference hard. We propose a novel approach to Maximum Likelihood Estimation (MLE) involving approximate inference over the latent variables by minimizing a tight upper bound on the approximation gap. Given a discrete latent variable $Z$, the proposed approximation reduces inference complexity from $O(|Z|^c)$ to $O(|Z|)$. We use convex conjugates to determine this upper bound in a closed form and show that its addition to the optimization objective results in improved results for models assuming proportional hazards as in Survival Analysis.

Change-point detection (CPD) aims to locate abrupt transitions in the generative model of a sequence of observations. When Bayesian methods are considered, the standard practice is to infer the posterior distribution of the change-point locations. However, for complex models (high-dimensional or heterogeneous), it is not possible to perform reliable detection. To circumvent this problem, we propose to use a hierarchical model, which yields observations that belong to a lower-dimensional manifold. Concretely, we consider a latent-class model with an unbounded number of categories, which is based on the chinese-restaurant process (CRP). For this model we derive a continual learning mechanism that is based on the sequential construction of the CRP and the expectation-maximization (EM) algorithm with a stochastic maximization step. Our results show that the proposed method is able to recursively infer the number of underlying latent classes and perform CPD in a reliable manner.

The aim of clinical effectiveness research using repositories of electronic health records is to identify what health interventions 'work best' in real-world settings. Since there are several reasons why the net benefit of intervention may differ across patients, current comparative effectiveness literature focuses on investigating heterogeneous treatment effect and predicting whether an individual might benefit from an intervention. The majority of this literature has concentrated on the estimation of the effect of treatment on binary outcomes. However, many medical interventions are evaluated in terms of their effect on future events, which are subject to loss to follow-up. In this study, we describe a framework for the estimation of heterogeneous treatment effect in terms of differences in time-to-event (survival) probabilities. We divide the problem into three phases: (1) estimation of treatment effect conditioned on unique sets of the covariate vector; (2) identification of features important for heterogeneity using an ensemble of non-parametric variable importance methods; and (3) estimation of treatment effect on the reference classes defined by the previously selected features, using one-step Targeted Maximum Likelihood Estimation. We conducted a series of simulation studies and found that this method performs well when either sample size or event rate is high enough and the number of covariates contributing to the effect heterogeneity is moderate. An application of this method to a clinical case study was conducted by estimating the effect of oral anticoagulants on newly diagnosed non-valvular atrial fibrillation patients using data from the UK Clinical Practice Research Datalink.

Markov chain Monte Carlo (MCMC) methods and neural networks are instrumental in tackling inferential and prediction problems. However, Bayesian inference based on joint use of MCMC methods and of neural networks is limited. This paper reviews the main challenges posed by neural networks to MCMC developments, including lack of parameter identifiability due to weight symmetries, prior specification effects, and consequently high computational cost and convergence failure. Population and manifold MCMC algorithms are combined to demonstrate these challenges via multilayer perceptron (MLP) examples and to develop case studies for assessing the capacity of approximate inference methods to uncover the posterior covariance of neural network parameters. Some of these challenges, such as high computational cost arising from the application of neural networks to big data and parameter identifiability arising from weight symmetries, stimulate research towards more scalable approximate MCMC methods or towards MCMC methods in reduced parameter spaces.

Recent advances in data-driven models for grounded language understanding have enabled robots to interpret increasingly complex instructions. Two fundamental limitations of these methods are that most require a full model of the environment to be known a priori, and they attempt to reason over a world representation that is flat and unnecessarily detailed, which limits scalability. Recent semantic mapping methods address partial observability by exploiting language as a sensor to infer a distribution over topological, metric and semantic properties of the environment. However, maintaining a distribution over highly detailed maps that can support grounding of diverse instructions is computationally expensive and hinders real-time human-robot collaboration. We propose a novel framework that learns to adapt perception according to the task in order to maintain compact distributions over semantic maps. Experiments with a mobile manipulator demonstrate more efficient instruction following in a priori unknown environments.

Beating humans in a penny-matching game by leveraging cognitive hierarchy theory and Bayesian learning Ran Tian, Nan Li, Ilya Kolmanovsky, and Anouck Girard Abstract -- It is a longstanding goal of artificial intelligence (AI) to be superior to human beings in decision making. Games are suitable for testing AI capabilities of making good decisions in non-numerical tasks. In this paper, we develop a new AI algorithm to play the penny-matching game considered in Shannon's "mind-reading machine" (1953) against human players. In particular, we exploit cognitive hierarchy theory and Bayesian learning techniques to continually evolve a model for predicting human player decisions, and let the AI player make decisions according to the model predictions to pursue the best chance of winning. Experimental results show that our AI algorithm beats 27 out of 30 volunteer human players. I NTRODUCTION Developing artificial intelligence (AI) to beat humans in strategic games has been drawing attention/interest of researchers for decades [1]-[10].

The notion of uncertainty is of major importance in machine learning and constitutes a key element of machine learning methodology. In line with the statistical tradition, uncertainty has long been perceived as almost synonymous with standard probability and probabilistic predictions. Yet, due to the steadily increasing relevance of machine learning for practical applications and related issues such as safety requirements, new problems and challenges have recently been identified by machine learning scholars, and these problems may call for new methodological developments. In particular, this includes the importance of distinguishing between (at least) two different types of uncertainty, often refereed to as aleatoric and epistemic. In this paper, we provide an introduction to the topic of uncertainty in machine learning as well as an overview of hitherto attempts at handling uncertainty in general and formalizing this distinction in particular. 1 Introduction Machine learning is essentially concerned with extracting models from data and using these models to make predictions.

We propose an efficient inference method for switching nonlinear dynamical systems. The key idea is to learn an inference network which can be used as a proposal distribution for the continuous latent variables, while performing exact marginalization of the discrete latent variables. This allows us to use the reparameterization trick, and apply end-to-end training with stochastic gradient descent. We show that the proposed method can successfully segment time series data (including videos) into meaningful "regimes", by using the piece-wise nonlinear dynamics.

Certain biological neurons demonstrate a remarkable capability to optimally compress the history of sensory inputs while being maximally informative about the future. In this work, we investigate if the same can be said of artificial neurons in recurrent neural networks (RNNs) trained with maximum likelihood. In experiments on two datasets, restorative Brownian motion and a hand-drawn sketch dataset, we find that RNNs are sub-optimal in the information plane. Instead of optimally compressing past information, they extract additional information that is not relevant for predicting the future. Overcoming this limitation may require alternative training procedures and architectures, or objectives beyond maximum likelihood estimation. Remembering past events is a critical component of predicting the future and acting in the world. An information-theoretic quantification of how much observing the past can help in predicting the future is given by the predictive information (Bialek et al., 2001). The predictive information is the mutual information (MI) between a finite set of observations (the past of a sequence) and an infinite number of additional draws from the same process (the future of a sequence).