Derivative-free online learning of inverse dynamics models

This paper discusses online algorithms for inverse dynamics modelling in robotics. Several model classes including rigid body dynamics (RBD) models, data-driven models and semiparametric models (which are a combination of the previous two classes) are placed in a common framework. While model classes used in the literature typically exploit joint velocities and accelerations, which need to be approximated resorting to numerical differentiation schemes, in this paper a new `derivative-free' framework is proposed that does not require this preprocessing step. An extensive experimental study with real data from the right arm of the iCub robot is presented, comparing different model classes and estimation procedures, showing that the proposed `derivative-free' methods outperform existing methodologies.Comment: 14 pages, 11 figure

Client-server multi-task learning from distributed datasets

A client-server architecture to simultaneously solve multiple learning tasks from distributed datasets is described. In such architecture, each client is associated with an individual learning task and the associated dataset of examples. The goal of the architecture is to perform information fusion from multiple datasets while preserving privacy of individual data. The role of the server is to collect data in real-time from the clients and codify the information in a common database. The information coded in this database can be used by all the clients to solve their individual learning task, so that each client can exploit the informative content of all the datasets without actually having access to private data of others. The proposed algorithmic framework, based on regularization theory and kernel methods, uses a suitable class of mixed effect kernels. The new method is illustrated through a simulated music recommendation system

Bayesian nonparametric models for peak identification in MALDI-TOF mass spectroscopy

We present a novel nonparametric Bayesian approach based on L\'{e}vy Adaptive Regression Kernels (LARK) to model spectral data arising from MALDI-TOF (Matrix Assisted Laser Desorption Ionization Time-of-Flight) mass spectrometry. This model-based approach provides identification and quantification of proteins through model parameters that are directly interpretable as the number of proteins, mass and abundance of proteins and peak resolution, while having the ability to adapt to unknown smoothness as in wavelet based methods. Informative prior distributions on resolution are key to distinguishing true peaks from background noise and resolving broad peaks into individual peaks for multiple protein species. Posterior distributions are obtained using a reversible jump Markov chain Monte Carlo algorithm and provide inference about the number of peaks (proteins), their masses and abundance. We show through simulation studies that the procedure has desirable true-positive and false-discovery rates. Finally, we illustrate the method on five example spectra: a blank spectrum, a spectrum with only the matrix of a low-molecular-weight substance used to embed target proteins, a spectrum with known proteins, and a single spectrum and average of ten spectra from an individual lung cancer patient.Comment: Published in at http://dx.doi.org/10.1214/10-AOAS450 the Annals of Applied Statistics (http://www.imstat.org/aoas/) by the Institute of Mathematical Statistics (http://www.imstat.org

Nonparametric causal effects based on incremental propensity score interventions

Most work in causal inference considers deterministic interventions that set each unit's treatment to some fixed value. However, under positivity violations these interventions can lead to non-identification, inefficiency, and effects with little practical relevance. Further, corresponding effects in longitudinal studies are highly sensitive to the curse of dimensionality, resulting in widespread use of unrealistic parametric models. We propose a novel solution to these problems: incremental interventions that shift propensity score values rather than set treatments to fixed values. Incremental interventions have several crucial advantages. First, they avoid positivity assumptions entirely. Second, they require no parametric assumptions and yet still admit a simple characterization of longitudinal effects, independent of the number of timepoints. For example, they allow longitudinal effects to be visualized with a single curve instead of lists of coefficients. After characterizing these incremental interventions and giving identifying conditions for corresponding effects, we also develop general efficiency theory, propose efficient nonparametric estimators that can attain fast convergence rates even when incorporating flexible machine learning, and propose a bootstrap-based confidence band and simultaneous test of no treatment effect. Finally we explore finite-sample performance via simulation, and apply the methods to study time-varying sociological effects of incarceration on entry into marriage

A Simple Class of Bayesian Nonparametric Autoregression Models

We introduce a model for a time series of continuous outcomes, that can be expressed as fully nonparametric regression or density regression on lagged terms. The model is based on a dependent Dirichlet process prior on a family of random probability measures indexed by the lagged covariates. The approach is also extended to sequences of binary responses. We discuss implementation and applications of the models to a sequence of waiting times between eruptions of the Old Faithful Geyser, and to a dataset consisting of sequences of recurrence indicators for tumors in the bladder of several patients.MIUR 2008MK3AFZFONDECYT 1100010NIH/NCI R01CA075981Mathematic

Regularization and Bayesian Learning in Dynamical Systems: Past, Present and Future

Regularization and Bayesian methods for system identification have been repopularized in the recent years, and proved to be competitive w.r.t. classical parametric approaches. In this paper we shall make an attempt to illustrate how the use of regularization in system identification has evolved over the years, starting from the early contributions both in the Automatic Control as well as Econometrics and Statistics literature. In particular we shall discuss some fundamental issues such as compound estimation problems and exchangeability which play and important role in regularization and Bayesian approaches, as also illustrated in early publications in Statistics. The historical and foundational issues will be given more emphasis (and space), at the expense of the more recent developments which are only briefly discussed. The main reason for such a choice is that, while the recent literature is readily available, and surveys have already been published on the subject, in the author's opinion a clear link with past work had not been completely clarified.Comment: Plenary Presentation at the IFAC SYSID 2015. Submitted to Annual Reviews in Contro

Nonparametric Bayesian methods for one-dimensional diffusion models

In this paper we review recently developed methods for nonparametric Bayesian inference for one-dimensional diffusion models. We discuss different possible prior distributions, computational issues, and asymptotic results