We address the problem of bootstrapping language acquisition for an artificial system similarly to what is observed in experiments with human infants. Our method works by associating meanings to words in manipulation tasks, as a robot interacts with objects and listens to verbal descriptions of the interactions. The model is based on an affordance network, i.e., a mapping between robot actions, robot perceptions, and the perceived effects of these actions upon objects. We extend the affordance model to incorporate spoken words, which allows us to ground the verbal symbols to the execution of actions and the perception of the environment. The model takes verbal descriptions of a task as the input and uses temporal co-occurrence to create links between speech utterances and the involved objects, actions, and effects. We show that the robot is able form useful word-to-meaning associations, even without considering grammatical structure in the learning process and in the presence of recognition errors. These word-to-meaning associations are embedded in the robot's own understanding of its actions. Thus, they can be directly used to instruct the robot to perform tasks and also allow to incorporate context in the speech recognition task. We believe that the encouraging results with our approach may afford robots with a capacity to acquire language descriptors in their operation's environment as well as to shed some light as to how this challenging process develops with human infants.

Today's Web-enabled deluge of electronic data calls for automated methods of data analysis. Machine learning provides these, developing methods that can automatically detect patterns in data and then use the uncovered patterns to predict future data. This textbook offers a comprehensive and self-contained introduction to the field of machine learning, based on a unified, probabilistic approach. The coverage combines breadth and depth, offering necessary background material on such topics as probability, optimization, and linear algebra as well as discussion of recent developments in the field, including conditional random fields, L1 regularization, and deep learning. The book is written in an informal, accessible style, complete with pseudo-code for the most important algorithms.

Feature selection can facilitate the learning of mixtures of discrete random variables as they arise, e.g. in crowdsourcing tasks. Intuitively, not all workers are equally reliable but, if the less reliable ones could be eliminated, then learning should be more robust. By analogy with Gaussian mixture models, we seek a low-order statistical approach, and here introduce an algorithm based on the (pairwise) mutual information. This induces an order over workers that is well structured for the `one coin' model. More generally, it is justified by a goodness-of-fit measure and is validated empirically. Improvement in real data sets can be substantial.

With the increasing popularity of machine learning techniques, it has become common to see prediction algorithms operating within some larger process. However, the criteria by which we train these algorithms often differ from the ultimate criteria on which we evaluate them. This paper proposes an end-to-end approach for learning probabilistic machine learning models in a manner that directly captures the ultimate task-based objective for which they will be used, within the context of stochastic programming. We present three experimental evaluations of the proposed approach: a classical inventory stock problem, a real-world electrical grid scheduling task, and a real-world energy storage arbitrage task. We show that the proposed approach can outperform both traditional modeling and purely black-box policy optimization approaches in these applications.

Bayesian inference requires approximation methods to become computable, but for most of them it is impossible to quantify how close the approximation is to the true posterior. In this work, we present a theorem upper-bounding the KL divergence between a log-concave target density $f\left(\boldsymbol{\theta}\right)$ and its Laplace approximation $g\left(\boldsymbol{\theta}\right)$. The bound we present is computable: on the classical logistic regression model, we find our bound to be almost exact as long as the dimensionality of the parameter space is high. The approach we followed in this work can be extended to other Gaussian approximations, as we will do in an extended version of this work, to be submitted to the Annals of Statistics. It will then become a critical tool for characterizing whether, for a given problem, a given Gaussian approximation is suitable, or whether a more precise alternative method should be used instead.

This paper proposes the continuous semantic topic embedding model (CSTEM) which finds latent topic variables in documents using continuous semantic distance function between the topics and the words by means of the vari-ational autoencoder(V AE). The semantic distance could be represented by any symmetric bell-shaped geometric distance function on the Euclidean space, for which the Mahalanobis distance is used in this paper. In order for the semantic distance to perform more properly, we newly introduce an additional model parameter for each word to take out the global factor from this distance indicating how likely it occurs regardless of its topic. It certainly improves the problem that the Gaussian distribution which is used in previous topic model with continuous word embedding could not explain the semantic relation correctly and helps to obtain the higher topic coherence. Through the experiments with the dataset of 20 Newsgroup, NIPS papers and CNN/Dailymail corpus, the performance of the recent state-of-the-art models is accomplished by our model as well as generating topic embedding vectors which makes possible to observe where the topic vectors are embedded with the word vectors in the real Euclidean space and how the topics are related each other semantically.

We investigate the low-dimensional structure of deterministic transformations between random variables, i.e., transport maps between probability measures. In the context of statistics and machine learning, these transformations can be used to couple a tractable "reference" measure (e.g., a standard Gaussian) with a target measure of interest. Direct simulation from the desired measure can then be achieved by pushing forward reference samples through the map. Yet characterizing such a map---e.g., representing and evaluating it---grows challenging in high dimensions. The central contribution of this paper is to establish a link between the Markov properties of the target measure and the existence of low-dimensional couplings, induced by transport maps that are sparse and/or decomposable. Our analysis not only facilitates the construction of transformations in high-dimensional settings, but also suggests new inference methodologies for continuous non-Gaussian graphical models. For instance, in the context of nonlinear state-space models, we describe new variational algorithms for filtering, smoothing, and sequential parameter inference. These algorithms can be understood as the natural generalization---to the non-Gaussian case---of the square-root Rauch-Tung-Striebel Gaussian smoother.

To address three important issues involved in latent variable models (LVMs), including capturing infrequent patterns, achieving small-sized but expressive models and alleviating overfitting, several studies have been devoted to "diversifying" LVMs, which aim at encouraging the components in LVMs to be diverse. Most existing studies fall into a frequentist-style regularization framework, where the components are learned via point estimation. In this paper, we investigate how to "diversify" LVMs in the paradigm of Bayesian learning. We propose two approaches that have complementary advantages. One is to define a diversity-promoting mutual angular prior which assigns larger density to components with larger mutual angles and use this prior to affect the posterior via Bayes' rule. We develop two efficient approximate posterior inference algorithms based on variational inference and MCMC sampling. The other approach is to impose diversity-promoting regularization directly over the post-data distribution of components. We also extend our approach to "diversify" Bayesian nonparametric models where the number of components is infinite. A sampling algorithm based on slice sampling and Hamiltonian Monte Carlo is developed. We apply these methods to "diversify" Bayesian mixture of experts model and infinite latent feature model. Experiments on various datasets demonstrate the effectiveness and efficiency of our methods.

Bayesian Nonparametrics is a class of models with a potentially infinite number of parameters. High flexibility and expressive power of this approach enables better data modelling compared to parametric methods.

In this paper, we deal with the task of building a dynamic ensemble of chain classifiers for multi-label classification. To do so, we proposed two concepts of classifier chains algorithms that are able to change label order of the chain without rebuilding the entire model. Such modes allows anticipating the instance-specific chain order without a significant increase in computational burden. The proposed chain models are built using the Naive Bayes classifier and nearest neighbour approach as a base single-label classifiers. To take the benefits of the proposed algorithms, we developed a simple heuristic that allows the system to find relatively good label order. The heuristic sort labels according to the label-specific classification quality gained during the validation phase. The heuristic tries to minimise the phenomenon of error propagation in the chain. The experimental results showed that the proposed model based on Naive Bayes classifier the above-mentioned heuristic is an efficient tool for building dynamic chain classifiers.