Large language models (LLMs) have shown significant potential for robotics applications, particularly task planning, by harnessing their language comprehension and text generation capabilities. However, in applications such as household robotics, a critical gap remains in the personalization of these models to household preferences. For example, an LLM planner may find it challenging to perform tasks that require personalization, such as deciding where to place mugs in a kitchen based on specific household preferences. We introduce LLM-Personalize, a novel framework designed to personalize LLM planners for household robotics. LLM-Personalize uses an LLM planner to perform iterative planning in multi-room, partially-observable household environments, utilizing a scene graph built dynamically from local observations. To personalize the LLM planner towards user preferences, our optimization pipeline integrates imitation learning and reinforced Self-Training. We evaluate LLM-Personalize on Housekeep, a challenging simulated real-world 3D benchmark for household rearrangements, demonstrating a more than 30 percent increase in success rate over existing LLM planners, showcasing significantly improved alignment with human preferences.

Foundation model training is increasingly centralized in large cloud data centers because it demands immense compute and memory resources. Training over decentralized edge devices could democratize this ecosystem by harnessing otherwise idle compute, but prior edge-training systems fall short: they scale poorly with model size and device count, exceed per-device memory budgets, incur prohibitive collective communication, and are fragile to heterogeneous and dynamic device availability. We present Cleave, a parameter-server-centric framework that makes tensor-parallel training practical at the edge. Cleave introduces selective hybrid tensor parallelism, which finely shards GEMM-dominated training operations into memory-feasible sub-tasks while avoiding peer-to-peer collectives that become bottlenecks on asymmetric edge links. A cost model guides device selection and shard placement to mitigate stragglers and rapidly adapt to churn. Across OPT and Llama2 models, Cleave matches cloud GPU training efficiency while scaling to thousands of devices. It supports up to 8× more devices than prior edge approaches, reduces per-batch training time by up to 10×, and achieves 100× faster recovery from device failures.

Adaptive cooperation in multi-agent reinforcement learning (MARL) requires policies to express homogeneous, specialised, or mixed behaviours, yet achieving this adaptivity remains a critical challenge. While parameter sharing (PS) is standard for efficient learning, it notoriously suppresses the behavioural diversity required for specialisation. This failure is largely due to cross-agent gradient interference, a problem we find is surprisingly exacerbated by the common practice of *coupling agent IDs with observations*. Existing remedies typically add complexity through altered objectives, manual preset diversity levels, or sequential updates -- raising a fundamental question: *can shared policies adapt without these intricacies?* We propose a solution built on a key insight: an agent-conditioned hypernetwork can generate agent-specific parameters and *decouple* observation- and agent-conditioned gradients, directly countering the interference from coupling agent IDs with observations. Our resulting method, **HyperMARL**, avoids the complexities of prior work and empirically reduces policy gradient variance. Across diverse MARL benchmarks (22 scenarios, up to 30 agents), HyperMARL achieves performance competitive with six key baselines while preserving behavioural diversity comparable to non-parameter sharing methods, establishing it as a versatile and principled approach for adaptive MARL. The code is publicly available at https://github.com/KaleabTessera/HyperMARL.

Deep Neural Networks (DNNs) are very computationally demanding, which presents a significant barrier to their deployment, especially on resource-constrained devices. Significant work from both the machine learning and computing systems communities has attempted to accelerate DNNs. However, the number of techniques available and the required domain knowledge for their exploration continue to grow, making design space exploration (DSE) increasingly difficult. To unify the perspectives from these two communities, this article introduces the Deep Learning Acceleration Stack (DLAS), a conceptual model for DNN deployment and acceleration. We adopt a six-layer representation that organizes and illustrates the key areas for DNN acceleration, from machine learning to software and computer architecture. We argue that the DLAS model balances simplicity and expressiveness, assisting practitioners from various domains in tackling co-design acceleration challenges. We demonstrate the interdependence of the DLAS layers, and thus the need for co-design, through an across-stack perturbation study, using a modified tensor compiler to generate experiments for combinations of a few parameters across the DLAS layers. Our perturbation study assesses the impact on inference time and accuracy when varying DLAS parameters across two datasets, seven popular DNN architectures, four compression techniques, three algorithmic primitives (with sparse and dense variants), untuned and auto-scheduled code generation, and four hardware platforms. The study observes significant changes in the relative performance of design choices with the introduction of new DLAS parameters (e.g., the fastest algorithmic primitive varies with the level of quantization). Given the strong evidence for the need for co-design, and the high costs of DSE, DLAS offers a valuable conceptual model for better exploring advanced co-designed accelerated deep learning solutions.

Segmentation masks of pathological areas are useful in many medical applications, such as brain tumour and stroke management. Moreover, healthy counterfactuals of diseased images can be used to enhance radiologists' training files and to improve the interpretability of segmentation models. In this work, we present a weakly supervised method to generate a healthy version of a diseased image and then use it to obtain a pixel-wise anomaly map. To do so, we start by considering a saliency map that approximately covers the pathological areas, obtained with ACAT. Then, we propose a technique that allows to perform targeted modifications to these regions, while preserving the rest of the image. In particular, we employ a diffusion model trained on healthy samples and combine Denoising Diffusion Probabilistic Model (DDPM) and Denoising Diffusion Implicit Model (DDIM) at each step of the sampling process. DDPM is used to modify the areas affected by a lesion within the saliency map, while DDIM guarantees reconstruction of the normal anatomy outside of it. The two parts are also fused at each timestep, to guarantee the generation of a sample with a coherent appearance and a seamless transition between edited and unedited parts. We verify that when our method is applied to healthy samples, the input images are reconstructed without significant modifications. We compare our approach with alternative weakly supervised methods on the task of brain lesion segmentation, achieving the highest mean Dice and IoU scores among the models considered.

It is challenging to scale time series forecasting models such that they forecast accurately for multiple distinct domains and datasets, all with potentially different underlying collection procedures (e.g., sample resolution), patterns (e.g., periodicity), and prediction requirements (e.g., reconstruction vs. forecasting). We call this general task universal forecasting. Existing methods usually assume that input data is regularly sampled, and they forecast to pre-determined horizons, resulting in failure to generalise outside of the scope of their training. We propose the DAM -- a neural model that takes randomly sampled histories and outputs an adjustable basis composition as a continuous function of time for forecasting to non-fixed horizons. It involves three key components: (1) a flexible approach for using randomly sampled histories from a long-tail distribution, that enables an efficient global perspective of the underlying temporal dynamics while retaining focus on the recent history; (2) a transformer backbone that is trained on these actively sampled histories to produce, as representational output, (3) the basis coefficients of a continuous function of time. We show that a single univariate DAM, trained on 25 time series datasets, either outperformed or closely matched existing SoTA models at multivariate long-term forecasting across 18 datasets, including 8 held-out for zero-shot transfer, even though these models were trained to specialise for each dataset-horizon combination. This single DAM excels at zero-shot transfer and very-long-term forecasting, performs well at imputation, is interpretable via basis function composition and attention, can be tuned for different inference-cost requirements, is robust to missing and irregularly sampled data by design.

World models constitute a promising approach for training reinforcement learning agents in a safe and sample-efficient manner. Recent world models predominantly operate on sequences of discrete latent variables to model environment dynamics. However, this compression into a compact discrete representation may ignore visual details that are important for reinforcement learning. Concurrently, diffusion models have become a dominant approach for image generation, challenging well-established methods modeling discrete latents. Motivated by this paradigm shift, we introduce DIAMOND (DIffusion As a Model Of eNvironment Dreams), a reinforcement learning agent trained in a diffusion world model. We analyze the key design choices that are required to make diffusion suitable for world modeling, and demonstrate how improved visual details can lead to improved agent performance. DIAMOND achieves a mean human normalized score of 1.46 on the competitive Atari 100k benchmark; a new best for agents trained entirely within a world model. We further demonstrate that DIAMOND's diffusion world model can stand alone as an interactive neural game engine by training on static *Counter-Strike: Global Offensive* gameplay. To foster future research on diffusion for world modeling, we release our code, agents, videos and playable world models at https://diamond-wm.github.io.

Neural architecture search (NAS) finds high performing networks for a given task. Yet the results of NAS are fairly prosaic; they did not e.g. create a shift from convolutional structures to transformers. This is not least because the search spaces in NAS often aren’t diverse enough to include such transformations *a priori*. Instead, for NAS to provide greater potential for fundamental design shifts, we need a novel expressive search space design which is built from more fundamental operations. To this end, we introduce `einspace`, a search space based on a parameterised probabilistic context-free grammar. Our space is versatile, supporting architectures of various sizes and complexities, while also containing diverse network operations which allow it to model convolutions, attention components and more. It contains many existing competitive architectures, and provides flexibility for discovering new ones. Using this search space, we perform experiments to find novel architectures as well as improvements on existing ones on the diverse Unseen NAS datasets. We show that competitive architectures can be obtained by searching from scratch, and we consistently find large improvements when initialising the search with strong baselines. We believe that this work is an important advancement towards a transformative NAS paradigm where search space expressivity and strategic search initialisation play key roles.

In an unsupervised attack on variational autoencoders (VAEs), an adversary finds a small perturbation in an input sample that significantly changes its latent space encoding, thereby compromising the reconstruction for a fixed decoder. A known reason for such vulnerability is the distortions in the latent space resulting from a mismatch between approximated latent posterior and a prior distribution. Consequently, a slight change in an input sample can move its encoding to a low/zero density region in the latent space resulting in an unconstrained generation. This paper demonstrates that an optimal way for an adversary to attack VAEs is to exploit a directional bias of a stochastic pullback metric tensor induced by the encoder and decoder networks. The pullback metric tensor of an encoder measures the change in infinitesimal latent volume from an input to a latent space. Thus, it can be viewed as a lens to analyse the effect of input perturbations leading to latent space distortions. We propose robustness evaluation scores using the eigenspectrum of a pullback metric tensor. Moreover, we empirically show that the scores correlate with the robustness parameter $\beta$ of the $\beta-$VAE. Since increasing $\beta$ also degrades reconstruction quality, we demonstrate a simple alternative using mixup training to fill the empty regions in the latent space, thus improving robustness with improved reconstruction.

In some medical imaging tasks and other settings where only small parts of the image are informative for the classification task, traditional CNNs can sometimes struggle to generalise. Manually annotated Regions of Interest (ROI) are often used to isolate the most informative parts of the image. However, these are expensive to collect and may vary significantly across annotators. To overcome these issues, we propose a framework that employs saliency maps to obtain soft spatial attention masks that modulate the image features at different scales. We refer to our method as Adversarial Counterfactual Attention (ACAT). ACAT increases the baseline classification accuracy of lesions in brain CT scans from $71.39 %$ to $72.55 %$ and of COVID-19 related findings in lung CT scans from $67.71 %$ to $70.84 %$ and exceeds the performance of competing methods. We investigate the best way to generate the saliency maps employed in our architecture and propose a way to obtain them from adversarially generated counterfactual images. They are able to isolate the area of interest in brain and lung CT scans without using any manual annotations. In the task of localising the lesion location out of 6 possible regions, they obtain a score of $65.05 %$ on brain CT scans, improving the score of $61.29 %$ obtained with the best competing method.

We introduce \textit{HALO} -- a deep generative model utilising HAmiltonian Latent Operators to reliably disentangle content and motion information in image sequences. The \textit{content} represents summary statistics of a sequence, and \textit{motion} is a dynamic process that determines how information is expressed in any part of the sequence. By modelling the dynamics as a Hamiltonian motion, important desiderata are ensured: (1) the motion is reversible, (2) the symplectic, volume-preserving structure in phase space means paths are continuous and are not divergent in the latent space. Consequently, the nearness of sequence frames is realised by the nearness of their coordinates in the phase space, which proves valuable for disentanglement and long-term sequence generation. The sequence space is generally comprised of different types of dynamical motions. To ensure long-term separability and allow controlled generation, we associate every motion with a unique Hamiltonian that acts in its respective subspace. We demonstrate the utility of \textit{HALO} by swapping the motion of a pair of sequences, controlled generation, and image rotations.

The field of meta-learning, or learning-to-learn, has seen a dramatic rise in interest in recent years. Contrary to conventional approaches to AI where tasks are solved from scratch using a fixed learning algorithm, meta-learning aims to improve the learning algorithm itself, given the experience of multiple learning episodes. This paradigm provides an opportunity to tackle many conventional challenges of deep learning, including data and computation bottlenecks, as well as generalization. This survey describes the contemporary meta-learning landscape. We first discuss definitions of meta-learning and position it with respect to related fields, such as transfer learning and hyperparameter optimization. We then propose a new taxonomy that provides a more comprehensive breakdown of the space of meta-learning methods today. We survey promising applications and successes of meta-learning such as few-shot learning and reinforcement learning. Finally, we discuss outstanding challenges and promising areas for future research.

We employ constraints to control the parameter space of deep neural networks throughout training. The use of customised, appropriately designed constraints can reduce the vanishing/exploding gradients problem, improve smoothness of classification boundaries, control weight magnitudes and stabilize deep neural networks, and thus enhance the robustness of training algorithms and the generalization capabilities of neural networks. We provide a general approach to efficiently incorporate constraints into a stochastic gradient Langevin framework, allowing enhanced exploration of the loss landscape. We also present specific examples of constrained training methods motivated by orthogonality preservation for weight matrices and explicit weight normalizations. Discretization schemes are provided both for the overdamped formulation of Langevin dynamics and the underdamped form, in which momenta further improve sampling efficiency. These optimisation schemes can be used directly, without needing to adapt neural network architecture design choices or to modify the objective with regularization terms, and see performance improvements in classification tasks.

The time and effort involved in hand-designing deep neural networks is immense. This has prompted the development of Neural Architecture Search (NAS) techniques to automate this design. However, NAS algorithms tend to be slow and expensive; they need to train vast numbers of candidate networks to inform the search process. This could be alleviated if we could partially predict a network’s trained accuracy from its initial state. In this work, we examine the overlap of activations between datapoints in untrained networks and motivate how this can give a measure which is usefully indicative of a network’s trained performance. We incorporate this measure into a simple algorithm that allows us to search for powerful networks without any training in a matter of seconds on a single GPU, and verify its effectiveness on NAS-Bench-101, NAS-Bench-201, NATS-Bench, and Network Design Spaces. Our approach can be readily combined with more expensive search methods; we examine a simple adaptation of regularised evolutionary search. Code for reproducing our experiments is available at https://github.com/BayesWatch/nas-without-training.

Gradient-based hyperparameter optimization has earned a widespread popularity in the context of few-shot meta-learning, but remains broadly impractical for tasks with long horizons (many gradient steps), due to memory scaling and gradient degradation issues. A common workaround is to learn hyperparameters online, but this introduces greediness which comes with a significant performance drop. We propose forward-mode differentiation with sharing (FDS), a simple and efficient algorithm which tackles memory scaling issues with forward-mode differentiation, and gradient degradation issues by sharing hyperparameters that are contiguous in time. We provide theoretical guarantees about the noise reduction properties of our algorithm, and demonstrate its efficiency empirically by differentiating through $\sim 10^4$ gradient steps of unrolled optimization. We consider large hyperparameter search ranges on CIFAR-10 where we significantly outperform greedy gradient-based alternatives, while achieving $\times 20$ speedups compared to the state-of-the-art black-box methods.

When deploying a deep neural network on con-strained hardware, it is possible to replace the network’s standard convolutions with grouped convolutions. This allows for substantial memory savings with minimal loss of accuracy. However, current implementations of grouped convolutions in modern deep learning frameworks are far from performing optimally in terms of speed. In this paper we propose Grouped Spatial Pack Convolutions (GSPC), a new implementation of grouped convolutions that outperforms existing solutions. We implement GSPC in TVM, which provides state-of-the-art performance on edge devices. We analyze a set of networks utilizing different types of grouped convolutions and evaluate their performance in terms of inference time on several edge devices. We observe that our new implementation scales well with the number of groups and provides the best inference times in all settings, improving the existing implementations of grouped convolutions in TVM, PyTorch and TensorFlow Lite by $3.4\times, 8\times$ and $ 4\times$ on average respectively. Code is available at https://github.com/gecLAB/tvm-GSPC/

In self-supervised learning, a system is tasked with achieving a surrogate objective by defining alternative targets on a set of unlabeled data. The aim is to build useful representations that can be used in downstream tasks, without costly manual annotation. In this work, we propose a novel self-supervised formulation of relational reasoning that allows a learner to bootstrap a signal from information implicit in unlabeled data. Training a relation head to discriminate how entities relate to themselves (intra-reasoning) and other entities (inter-reasoning), results in rich and descriptive representations in the underlying neural network backbone, which can be used in downstream tasks such as classification and image retrieval. We evaluate the proposed method following a rigorous experimental procedure, using standard datasets, protocols, and backbones. Self-supervised relational reasoning outperforms the best competitor in all conditions by an average 14% in accuracy, and the most recent state-of-the-art model by 3%. We link the effectiveness of the method to the maximization of a Bernoulli log-likelihood, which can be considered as a proxy for maximizing the mutual information, resulting in a more efficient objective with respect to the commonly used contrastive losses.

Recently, different machine learning methods have been introduced to tackle the challenging few-shot learning scenario that is, learning from a small labeled dataset related to a specific task. Common approaches have taken the form of meta-learning: learning to learn on the new problem given the old. Following the recognition that meta-learning is implementing learning in a multi-level model, we present a Bayesian treatment for the meta-learning inner loop through the use of deep kernels. As a result we can learn a kernel that transfers to new tasks; we call this Deep Kernel Transfer (DKT). This approach has many advantages: is straightforward to implement as a single optimizer, provides uncertainty quantification, and does not require estimation of task-specific parameters. We empirically demonstrate that DKT outperforms several state-of-the-art algorithms in few-shot classification, and is the state of the art for cross-domain adaptation and regression. We conclude that complex meta-learning routines can be replaced by a simpler Bayesian model without loss of accuracy.

In few-shot learning, a machine learning system is required to learn from a small set of labelled examples of a specific task, such that it can achieve strong generalization on new unlabelled examples of the same task. Given the limited availability of labelled examples in such tasks, we need to make use of all the information we can. For this reason we propose the use of transductive meta-learning for few shot settings to obtain state-of-the-art few-shot learning. Usually a model learns task-specific information from a small training-set (the \emph{support-set}) and subsequently produces predictions on a small unlabelled validation set (\emph{target-set}). The target-set contains additional task-specific information which is not utilized by existing few-shot learning methods. This is a challenge requiring approaches beyond the current methods as at inference time, the target-set contains only input data-points, and so discriminative-based learning cannot be used. In this paper, we propose a framework called \emph{Self-Critique and Adapt} or SCA. This approach learns to learn a label-free loss function, parameterized as a neural network, which leverages target-set information. A base-model learns on a support-set using existing methods (e.g. stochastic gradient descent combined with the cross-entropy loss), and then is updated for the incoming target-task using a new learned loss function (i.e. the meta-learned label-free loss). This unsupervised loss function is optimized such that the learnt model achieves higher generalization performance. Experiments demonstrate that SCA offers substantially higher and state-of-the-art generalization performance compared to baselines which only adapt on the support-set.

Performing knowledge transfer from a large teacher network to a smaller student is a popular task in modern deep learning applications. However, due to growing dataset sizes and stricter privacy regulations, it is increasingly common not to have access to the data that was used to train the teacher. We propose a novel method which trains a student to match the predictions of its teacher without using any data or metadata. We achieve this by training an adversarial generator to search for images on which the student poorly matches the teacher, and then using them to train the student. Our resulting student closely approximates its teacher for simple datasets like SVHN, and on CIFAR10 we improve on the state-of-the-art for few-shot distillation (with $100$ images per class), despite using no data. Finally, we also propose a metric to quantify the degree of belief matching between teacher and student in the vicinity of decision boundaries, and observe a significantly higher match between our zero-shot student and the teacher, than between a student distilled with real data and the teacher. Code is available at: https://github.com/polo5/ZeroShotKnowledgeTransfer

Many engineers wish to deploy modern neural networks in memory-limited settings; but the development of flexible methods for reducing memory use is in its infancy, and there is little knowledge of the resulting cost-benefit. We propose structural model distillation for memory reduction using a strategy that produces a student architecture that is a simple transformation of the teacher architecture: no redesign is needed, and the same hyperparameters can be used. Using attention transfer, we provide Pareto curves/tables for distillation of residual networks with four benchmark datasets, indicating the memory versus accuracy payoff. We show that substantial memory savings are possible with very little loss of accuracy, and confirm that distillation provides student network performance that is better than training that student architecture directly on data.

Many generative models can be expressed as a differentiable function of random inputs drawn from some simple probability density. This framework includes both deep generative architectures such as Variational Autoencoders and a large class of procedurally defined simulator models. We present a method for performing efficient MCMC inference in such models when conditioning on observations of the model output. For some models this offers an asymptotically exact inference method where Approximate Bayesian Computation might otherwise be employed. We use the intuition that inference corresponds to integrating a density across the manifold corresponding to the set of inputs consistent with the observed outputs. This motivates the use of a constrained variant of Hamiltonian Monte Carlo which leverages the smooth geometry of the manifold to coherently move between inputs exactly consistent with observations. We validate the method by performing inference tasks in a diverse set of models.

We consider convex-concave saddle point problems with a separable structure and non-strongly convex functions. We propose an efficient stochastic block coordinate descent method using adaptive primal-dual updates, which enables flexible parallel optimization for large-scale problems. Our method shares the efficiency and flexibility of block coordinate descent methods with the simplicity of primal-dual methods and utilizing the structure of the separable convex-concave saddle point problem. It is capable of solving a wide range of machine learning applications, including robust principal component analysis, Lasso, and feature selection by group Lasso, etc. Theoretically and empirically, we demonstrate significantly better performance than state-of-the-art methods in all these applications.

Mastering the game of Go has remained a long-standing challenge to the field of AI. Modern computer Go programs rely on processing millions of possible future positions to play well, but intuitively a stronger and more ’humanlike’ way to play the game would be to rely on pattern recognition rather than brute force computation. Following this sentiment, we train deep convolutional neural networks to play Go by training them to predict the moves made by expert Go players. To solve this problem we introduce a number of novel techniques, including a method of tying weights in the network to ’hard code’ symmetries that are expected to exist in the target function, and demonstrate in an ablation study they considerably improve performance. Our final networks are able to achieve move prediction accuracies of 41.1% and 44.4% on two different Go datasets, surpassing previous state of the art on this task by significant margins. Additionally, while previous move prediction systems have not yielded strong Go playing programs, we show that the networks trained in this work acquired high levels of skill. Our convolutional neural networks can consistently defeat the well known Go program GNU Go and win some games against state of the art Go playing program Fuego while using a fraction of the play time.

Monte Carlo sampling for Bayesian posterior inference is a common approach used in machine learning. The Markov Chain Monte Carlo procedures that are used are often discrete-time analogues of associated stochastic differential equations (SDEs). These SDEs are guaranteed to leave invariant the required posterior distribution. An area of current research addresses the computational benefits of stochastic gradient methods in this setting. Existing techniques rely on estimating the variance or covariance of the subsampling error, and typically assume constant variance. In this article, we propose a covariance-controlled adaptive Langevin thermostat that can effectively dissipate parameter-dependent noise while maintaining a desired target distribution. The proposed method achieves a substantial speedup over popular alternative schemes for large-scale machine learning applications.

We propose the supervised hierarchical Dirichlet process (sHDP), a nonparametric generative model for the joint distribution of a group of observations and a response variable directly associated with that whole group. We compare the sHDP with another leading method for regression on grouped data, the supervised latent Dirichlet allocation (sLDA) model. We evaluate our method on two real-world classification problems and two real-world regression problems. Bayesian nonparametric regression models based on the Dirichlet process, such as the Dirichlet process-generalised linear models (DP-GLM) have previously been explored; these models allow flexibility in modelling nonlinear relationships. However, until now, hierarchical Dirichlet process (HDP) mixtures have not seen significant use in supervised problems with grouped data since a straightforward application of the HDP on the grouped data results in learnt clusters that are not predictive of the responses. The sHDP solves this problem by allowing for clusters to be learnt jointly from the group structure and from the label assigned to each group.

We present a new model for prediction markets, in which we use risk measures to model agents and introduce a market maker to describe the trading process. This specific choice of modelling approach enables us to show that the whole market approaches a global objective, despite the fact that the market is designed such that each agent only cares about its own goal. In addition, the market dynamic provides a sensible algorithm for optimising the global objective. An intimate connection between machine learning and our markets is thus established, such that we could 1) analyse a market by applying machine learning methods to the global objective; and 2) solve machine learning problems by setting up and running certain markets.

Several theories propose that the cortex implements an internal model to explain, predict, and learn about sensory data, but the nature of this model is unclear. One condition that could be highly informative here is Charles Bonnet syndrome (CBS), where loss of vision leads to complex, vivid visual hallucinations of objects, people, and whole scenes. CBS could be taken as indication that there is a generative model in the brain, specifically one that can synthesise rich, consistent visual representations even in the absence of actual visual input. The processes that lead to CBS are poorly understood. Here, we argue that a model recently introduced in machine learning, the deep Boltzmann machine (DBM), could capture the relevant aspects of (hypothetical) generative processing in the cortex. The DBM carries both the semantics of a probabilistic generative model and of a neural network. The latter allows us to model a concrete neural mechanism that could underlie CBS, namely, homeostatic regulation of neuronal activity. We show that homeostatic plasticity could serve to make the learnt internal model robust against e.g. degradation of sensory input, but overcompensate in the case of CBS, leading to hallucinations. We demonstrate how a wide range of features of CBS can be explained in the model and suggest a potential role for the neuromodulator acetylcholine. This work constitutes the first concrete computational model of CBS and the first application of the DBM as a model in computational neuroscience. Our results lend further credence to the hypothesis of a generative model in the brain.

Stochastic differential equations (SDE) are a natural tool for modelling systems that are inherently noisy or contain uncertainties that can be modelled as stochastic processes. Crucial to the process of using SDE to build mathematical models is the ability to estimate parameters of those models from observed data. Over the past few decades, significant progress has been made on this problem, but we are still far from having a definitive solution. We describe a novel method of approximating a diffusion process that we show to be useful in Markov chain Monte-Carlo (MCMC) inference algorithms. We take the ‘white’ noise that drives a diffusion process and decompose it into two terms. The first is a ‘coloured noise’ term that can be deterministically controlled by a set of auxilliary variables. The second term is small and enables us to form a linear Gaussian ‘small noise’ approximation. The decomposition allows us to take a diffusion process of interest and cast it in a form that is amenable to sampling by MCMC methods. We explain why many state-of-the-art inference methods fail on highly nonlinear inference problems. We demonstrate experimentally that our method performs well in such situations. Our results show that this method is a promising new tool for use in inference and parameter estimation problems.

Continuous relaxations play an important role in discrete optimization, but have not seen much use in approximate probabilistic inference. Here we show that a general form of the Gaussian Integral Trick makes it possible to transform a wide class of discrete variable undirected models into fully continuous systems. The continuous representation allows the use of gradient-based Hamiltonian Monte Carlo for inference, results in new ways of estimating normalization constants (partition functions), and in general opens up a number of new avenues for inference in difficult discrete systems. We demonstrate some of these continuous relaxation inference algorithms on a number of illustrative problems.

It has been argued that perceptual multistability reflects probabilistic inference performed by the brain when sensory input is ambiguous. Alternatively, more traditional explanations of multistability refer to low-level mechanisms such as neuronal adaptation. We employ a Deep Boltzmann Machine (DBM) model of cortical processing to demonstrate that these two different approaches can be combined in the same framework. Based on recent developments in machine learning, we show how neuronal adaptation can be understood as a mechanism that improves probabilistic, sampling-based inference. Using the ambiguous Necker cube image, we analyze the perceptual switching exhibited by the model. We also examine the influence of spatial attention, and explore how binocular rivalry can be modeled with the same approach. Our work joins earlier studies in demonstrating how the principles underlying DBMs relate to cortical processing, and offers novel perspectives on the neural implementation of approximate probabilistic inference in the brain.

This paper describes a probabilistic framework for studying associations between multiple genotypes, biomarkers, and phenotypic traits in the presence of noise and unobserved confounders for large genetic studies. The framework builds on sparse linear methods developed for regression and modified here for inferring causal structures of richer networks with latent variables. The method is motivated by the use of genotypes as ``instruments'' to infer causal associations between phenotypic biomarkers and outcomes, without making the common restrictive assumptions of instrumental variable methods. The method may be used for an effective screening of potentially interesting genotype phenotype and biomarker-phenotype associations in genome-wide studies, which may have important implications for validating biomarkers as possible proxy endpoints for early stage clinical trials. Where the biomarkers are gene transcripts, the method can be used for fine mapping of quantitative trait loci (QTLs) detected in genetic linkage studies. The method is applied for examining effects of gene transcript levels in the liver on plasma HDL cholesterol levels for a sample of sequenced mice from a heterogeneous stock, with $\sim 10^5$ genetic instruments and $\sim 47 \times 10^3$ gene transcripts.

The Charles Bonnet Syndrome (CBS) is characterized by complex vivid visual hallucinations in people with, primarily, eye diseases and no other neurological pathology. We present a Deep Boltzmann Machine model of CBS, exploring two core hypotheses: First, that the visual cortex learns a generative or predictive model of sensory input, thus explaining its capability to generate internal imagery. And second, that homeostatic mechanisms stabilize neuronal activity levels, leading to hallucinations being formed when input is lacking. We reproduce a variety of qualitative findings in CBS. We also introduce a modification to the DBM that allows us to model a possible role of acetylcholine in CBS as mediating the balance of feed-forward and feed-back processing. Our model might provide new insights into CBS and also demonstrates that generative frameworks are promising as hypothetical models of cortical learning and perception.

We construct a biologically motivated stochastic differential model of the neural and hemodynamic activity underlying the observed Blood Oxygen Level Dependent (BOLD) signal in Functional Magnetic Resonance Imaging (fMRI). The model poses a difficult parameter estimation problem, both theoretically due to the nonlinearity and divergence of the differential system, and computationally due to its time and space complexity. We adapt a particle filter and smoother to the task, and discuss some of the practical approaches used to tackle the difficulties, including use of sparse matrices and parallelisation. Results demonstrate the tractability of the approach in its application to an effective connectivity study.

Biological movement is built up of sub-blocks or motion primitives. Such primitives provide a compact representation of movement which is also desirable in robotic control applications. We analyse handwriting data to gain a better understanding of use of primitives and their timings in biological movements. Inference of the shape and the timing of primitives can be done using a factorial HMM based model, allowing the handwriting to be represented in primitive timing space. This representation provides a distribution of spikes corresponding to the primitive activations, which can also be modelled using HMM architectures. We show how the coupling of the low level primitive model, and the higher level timing model during inference can produce good reconstructions of handwriting, with shared primitives for all characters modelled. This coupled model also captures the variance profile of the dataset which is accounted for by spike timing jitter. The timing code provides a compact representation of the movement while generating a movement without an explicit timing model produces a scribbling style of output.

Since the invention of diffusion magnetic resonance imaging (dMRI), currently the only established method for studying white matter connectivity in a clinical environment, there has been a great deal of interest in the effects of various pathologies on the connectivity of the brain. As methods for in vivo tractography have been developed, it has become possible to track and segment specific white matter structures of interest for particular study. However, the consistency and reproducibility of tractography-based segmentation remain limited, and attempts to improve them have thus far typically involved the imposition of strong constraints on the tract reconstruction process itself. In this work we take a different approach, developing a formal probabilistic model for the relationships between comparable tracts in different scans, and then using it to choose a tract, a posteriori, which best matches a predefined reference tract for the structure of interest. We demonstrate that this method is able to significantly improve segmentation consistency without directly constraining the tractography algorithm.

Inference in Markov Decision Processes has recently received interest as a means to infer goals of an observed action, policy recognition, and also as a tool to compute policies. A particularly interesting aspect of the approach is that any existing inference technique in DBNs now becomes available for answering behavioral question--including those on continuous, factorial, or hierarchical state representations. Here we present an Expectation Maximization algorithm for computing optimal policies. Unlike previous approaches we can show that this actually optimizes the discounted expected future return for arbitrary reward functions and without assuming an ad hoc finite total time. The algorithm is generic in that any inference technique can be utilized in the E-step. We demonstrate this for exact inference on a discrete maze and Gaussian belief state propagation in continuous stochastic optimal control problems.

In supervised learning there is a typical presumption that the training and test points are taken from the same distribution. In practice this assumption is commonly violated. The situations where the training and test data are from different distributions is called covariate shift. Recent work has examined techniques for dealing with covariate shift in terms of minimisation of generalisation error. As yet the literature lacks a Bayesian generative perspective on this problem. This paper tackles this issue for regression models. Recent work on covariate shift can be understood in terms of mixture regression. Using this view, we obtain a general approach to regression under covariate shift, which reproduces previous work as a special case. The main advantages of this new formulation over previous models for covariate shift are that we no longer need to presume the test and training densities are known, the regression and density estimation are combined into a single procedure, and previous methods are reproduced as special cases of this procedure, shedding light on the implicit assumptions the methods are making.

David McGonigle Centre for Functional Imaging Studies University of Edinburgh Structural equation models can be seen as an extension of Gaussian belief net- works to cyclic graphs, and we show they can be understood generatively as the model for the joint distribution of long term average equilibrium activity of Gaus- sian dynamic belief networks. Most use of structural equation models in fMRI involves postulating a particular structure and comparing learnt parameters across different groups. In this paper it is argued that there are situations where priors about structure are not firm or exhaustive, and given sufficient data, it is worth investigating learning network structure as part of the approach to connectivity analysis. First we demonstrate structure learning on a toy problem. We then show that for particular fMRI data the simple models usually assumed are not supported. We show that is is possible to learn sensible structural equation models that can provide modelling benefits, but that are not necessarily going to be the same as a true causal model, and suggest the combination of prior models and learning or the use of temporal information from dynamic models may provide more benefits than learning structural equations alone.

Discrete Fourier transforms and other related Fourier methods have been practically implementable due to the fast Fourier transform (FFT). However there are many situations where doing fast Fourier transforms without complete data would be desirable. In this pa- per it is recognised that formulating the FFT algorithm as a belief network allows suitable priors to be set for the Fourier coe(cid:14)cients. Furthermore e(cid:14)cient generalised belief propagation methods be- tween clusters of four nodes enable the Fourier coe(cid:14)cients to be inferred and the missing data to be estimated in near to O(n log n) time, where n is the total of the given and missing data points. This method is compared with a number of common approaches such as setting missing data to zero or to interpolation. It is tested on generated data and for a Fourier analysis of a damaged audio signal.

This paper describes the position-encoding dynamic tree (PEDT). The PEDT is a probabilistic model for images that improves on the dynamic tree by allowing the positions of objects to play a part in the model. This increases the flexibility of the model over the dynamic tree and allows the positions of objects to be located and manipulated. This paper motivates and defines this form of probabilistic model using the belief network formalism. A structured variational approach for inference and learning in the PEDT is developed, and the resulting variational updates are obtained, along with additional implementation considerations that ensure the computational cost scales linearly in the number of nodes of the belief network. The PEDT model is demonstrated and compared with the dynamic tree and fixed tree. The structured variational learning method is compared with mean field approaches.

The problem of super-resolution involves generating feasible higher resolution images, which are pleasing to the eye and realistic, from a given low resolution image. This might be attempted by us- ing simple (cid:12)lters for smoothing out the high resolution blocks or through applications where substantial prior information is used to imply the textures and shapes which will occur in the images. In this paper we describe an approach which lies between the two extremes. It is a generic unsupervised method which is usable in all domains, but goes beyond simple smoothing methods in what it achieves. We use a dynamic tree-like architecture to model the high resolution data. Approximate conditioning on the low resolution image is achieved through a mean (cid:12)eld approach.

Tree structured belief networks are attractive for image segmentation tasks. However, networks with fixed architectures are not very suitable as they lead to blocky artefacts, and led to the introduction of dynamic trees (DTs). The Dynamic trees architecture provide a prior distribution over tree structures, and simulated annealing (SA) was used to search for structures with high posterior probability. In this paper we introduce a mean field approach to inference in DTs. We find that the mean field method captures the posterior better than just using the maximum a posteriori solution found by SA.