Hierarchical Decomposition of Nonlinear Dynamics and Control for System Identification and Policy Distillation

The control of nonlinear dynamical systems remains a major challenge for autonomous agents. Current trends in reinforcement learning (RL) focus on complex representations of dynamics and policies, which have yielded impressive results in solving a variety of hard control tasks. However, this new sophistication and extremely over-parameterized models have come with the cost of an overall reduction in our ability to interpret the resulting policies. In this paper, we take inspiration from the control community and apply the principles of hybrid switching systems in order to break down complex dynamics into simpler components. We exploit the rich representational power of probabilistic graphical models and derive an expectation-maximization (EM) algorithm for learning a sequence model to capture the temporal structure of the data and automatically decompose nonlinear dynamics into stochastic switching linear dynamical systems. Moreover, we show how this framework of switching models enables extracting hierarchies of Markovian and auto-regressive locally linear controllers from nonlinear experts in an imitation learning scenario.Comment: 2nd Annual Conference on Learning for Dynamics and Contro

Variational Bayes Estimation of Discrete-Margined Copula Models with Application to Time Series

We propose a new variational Bayes estimator for high-dimensional copulas with discrete, or a combination of discrete and continuous, margins. The method is based on a variational approximation to a tractable augmented posterior, and is faster than previous likelihood-based approaches. We use it to estimate drawable vine copulas for univariate and multivariate Markov ordinal and mixed time series. These have dimension $rT$, where $T$ is the number of observations and $r$ is the number of series, and are difficult to estimate using previous methods. The vine pair-copulas are carefully selected to allow for heteroskedasticity, which is a feature of most ordinal time series data. When combined with flexible margins, the resulting time series models also allow for other common features of ordinal data, such as zero inflation, multiple modes and under- or over-dispersion. Using six example series, we illustrate both the flexibility of the time series copula models, and the efficacy of the variational Bayes estimator for copulas of up to 792 dimensions and 60 parameters. This far exceeds the size and complexity of copula models for discrete data that can be estimated using previous methods

A Collaborative Kalman Filter for Time-Evolving Dyadic Processes

We present the collaborative Kalman filter (CKF), a dynamic model for collaborative filtering and related factorization models. Using the matrix factorization approach to collaborative filtering, the CKF accounts for time evolution by modeling each low-dimensional latent embedding as a multidimensional Brownian motion. Each observation is a random variable whose distribution is parameterized by the dot product of the relevant Brownian motions at that moment in time. This is naturally interpreted as a Kalman filter with multiple interacting state space vectors. We also present a method for learning a dynamically evolving drift parameter for each location by modeling it as a geometric Brownian motion. We handle posterior intractability via a mean-field variational approximation, which also preserves tractability for downstream calculations in a manner similar to the Kalman filter. We evaluate the model on several large datasets, providing quantitative evaluation on the 10 million Movielens and 100 million Netflix datasets and qualitative evaluation on a set of 39 million stock returns divided across roughly 6,500 companies from the years 1962-2014.Comment: Appeared at 2014 IEEE International Conference on Data Mining (ICDM