Probabilistic Methodology and Techniques for Artefact Conception and Development

The purpose of this paper is to make a state of the art on probabilistic methodology and techniques for artefact conception and development. It is the 8th deliverable of the BIBA (Bayesian Inspired Brain and Artefacts) project. We first present the incompletness problem as the central difficulty that both living creatures and artefacts have to face: how can they perceive, infer, decide and act efficiently with incomplete and uncertain knowledge?. We then introduce a generic probabilistic formalism called Bayesian Programming. This formalism is then used to review the main probabilistic methodology and techniques. This review is organized in 3 parts: first the probabilistic models from Bayesian networks to Kalman filters and from sensor fusion to CAD systems, second the inference techniques and finally the learning and model acquisition and comparison methodologies. We conclude with the perspectives of the BIBA project as they rise from this state of the art

Efficient Bayes-Adaptive Reinforcement Learning using Sample-Based Search

Bayesian model-based reinforcement learning is a formally elegant approach to learning optimal behaviour under model uncertainty, trading off exploration and exploitation in an ideal way. Unfortunately, finding the resulting Bayes-optimal policies is notoriously taxing, since the search space becomes enormous. In this paper we introduce a tractable, sample-based method for approximate Bayes-optimal planning which exploits Monte-Carlo tree search. Our approach outperformed prior Bayesian model-based RL algorithms by a significant margin on several well-known benchmark problems -- because it avoids expensive applications of Bayes rule within the search tree by lazily sampling models from the current beliefs. We illustrate the advantages of our approach by showing it working in an infinite state space domain which is qualitatively out of reach of almost all previous work in Bayesian exploration.Comment: 14 pages, 7 figures, includes supplementary material. Advances in Neural Information Processing Systems (NIPS) 201

Maximum a Posteriori Estimation by Search in Probabilistic Programs

We introduce an approximate search algorithm for fast maximum a posteriori probability estimation in probabilistic programs, which we call Bayesian ascent Monte Carlo (BaMC). Probabilistic programs represent probabilistic models with varying number of mutually dependent finite, countable, and continuous random variables. BaMC is an anytime MAP search algorithm applicable to any combination of random variables and dependencies. We compare BaMC to other MAP estimation algorithms and show that BaMC is faster and more robust on a range of probabilistic models.Comment: To appear in proceedings of SOCS1

Parallel hierarchical sampling:a general-purpose class of multiple-chains MCMC algorithms

This paper introduces the Parallel Hierarchical Sampler (PHS), a class of Markov chain Monte Carlo algorithms using several interacting chains having the same target distribution but different mixing properties. Unlike any single-chain MCMC algorithm, upon reaching stationarity one of the PHS chains, which we call the “mother” chain, attains exact Monte Carlo sampling of the target distribution of interest. We empirically show that this translates in a dramatic improvement in the sampler’s performance with respect to single-chain MCMC algorithms. Convergence of the PHS joint transition kernel is proved and its relationships with single-chain samplers, Parallel Tempering (PT) and variable augmentation algorithms are discussed. We then provide two illustrative examples comparing the accuracy of PHS with

Sampling decomposable graphs using a Markov chain on junction trees

Full Bayesian computational inference for model determination in undirected graphical models is currently restricted to decomposable graphs, except for problems of very small scale. In this paper we develop new, more efficient methodology for such inference, by making two contributions to the computational geometry of decomposable graphs. The first of these provides sufficient conditions under which it is possible to completely connect two disconnected complete subsets of vertices, or perform the reverse procedure, yet maintain decomposability of the graph. The second is a new Markov chain Monte Carlo sampler for arbitrary positive distributions on decomposable graphs, taking a junction tree representing the graph as its state variable. The resulting methodology is illustrated with numerical experiments on three specific models.Comment: 22 pages, 7 figures, 1 table. V2 as V1 except that Fig 1 was corrected. V3 has significant edits, dropping some figures and including additional examples and a discussion of the non-decomposable case. V4 is further edited following review, and includes additional reference

Better Optimism By Bayes: Adaptive Planning with Rich Models

The computational costs of inference and planning have confined Bayesian model-based reinforcement learning to one of two dismal fates: powerful Bayes-adaptive planning but only for simplistic models, or powerful, Bayesian non-parametric models but using simple, myopic planning strategies such as Thompson sampling. We ask whether it is feasible and truly beneficial to combine rich probabilistic models with a closer approximation to fully Bayesian planning. First, we use a collection of counterexamples to show formal problems with the over-optimism inherent in Thompson sampling. Then we leverage state-of-the-art techniques in efficient Bayes-adaptive planning and non-parametric Bayesian methods to perform qualitatively better than both existing conventional algorithms and Thompson sampling on two contextual bandit-like problems.Comment: 11 pages, 11 figure