Learning dynamical systems with particle stochastic approximation EM

Learning of dynamical systems, or state-space models, is central to many machine learning problems, such as reinforcement learning, sequence modeling, and autonomous systems. Furthermore, state-space models are at the core of recent model developments within the machine learning area, such as Gaussian process state-space models (Frigola et al. 2014a; Mattos et al. 2016; etc.), infinite factorial dynamical models (Gael et al., 2009; Valera et al., 2015), and stochastic recurrent neural networks (Fraccaro et al., 2016, for example). A strategy to learn state-space models, independently suggested by Digalakis et al. (1993) and Ghahramani and Hinton (1996), is the use of the Expectation Maximization (EM, Dempster et al. 1977) method. Even though originally proposed only for maximum likelihood estimation of linear models with Gaussian noise, the strategy can be generalized to the more challenging nonlinear and non-Gaussian cases, as well as the empirical Bayes setting. Many contributions have been made during the last decade, and this paper takes another step along the path towards a more computationally efficient method with a solid theoretical ground for learning of nonlinear dynamical systems.