9,178 research outputs found
Variational bridge constructs for approximate Gaussian process regression
This paper introduces a method to approximate Gaussian process regression by representing the problem as a stochastic differential equation and using variational inference to approximate solutions. The approximations are compared with full GP regression and generated paths are demonstrated to be indistinguishable from GP samples. We show that the approach extends easily to non-linear dynamics and discuss extensions to which the approach can be easily applied
Expectation-maximization for logistic regression
We present a family of expectation-maximization (EM) algorithms for binary
and negative-binomial logistic regression, drawing a sharp connection with the
variational-Bayes algorithm of Jaakkola and Jordan (2000). Indeed, our results
allow a version of this variational-Bayes approach to be re-interpreted as a
true EM algorithm. We study several interesting features of the algorithm, and
of this previously unrecognized connection with variational Bayes. We also
generalize the approach to sparsity-promoting priors, and to an online method
whose convergence properties are easily established. This latter method
compares favorably with stochastic-gradient descent in situations with marked
collinearity
Causal Confusion in Imitation Learning
Behavioral cloning reduces policy learning to supervised learning by training
a discriminative model to predict expert actions given observations. Such
discriminative models are non-causal: the training procedure is unaware of the
causal structure of the interaction between the expert and the environment. We
point out that ignoring causality is particularly damaging because of the
distributional shift in imitation learning. In particular, it leads to a
counter-intuitive "causal misidentification" phenomenon: access to more
information can yield worse performance. We investigate how this problem
arises, and propose a solution to combat it through targeted
interventions---either environment interaction or expert queries---to determine
the correct causal model. We show that causal misidentification occurs in
several benchmark control domains as well as realistic driving settings, and
validate our solution against DAgger and other baselines and ablations.Comment: Published at NeurIPS 2019 9 pages, plus references and appendice
Hierarchic Bayesian models for kernel learning
The integration of diverse forms of informative data by learning an optimal combination of base kernels in classification or regression problems can provide enhanced performance when compared to that obtained from any single data source. We present a Bayesian hierarchical model which enables kernel learning and present effective variational Bayes estimators for regression and classification. Illustrative experiments demonstrate the utility of the proposed method
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