Placing robotsoutside controlled conditions requires versatile movement representations that allow robots to learn new tasks and adapt them to environmental changes. The introduction of obstacles or the placement of additional robots in the workspace and the modification of the joint range due to faults or range-of-motion constraints are typical cases, where the adaptation capabilities play a key role for safely performing the robot’s task. Probabilistic movement primitives (ProMPs) have been proposed for representing adaptable movement skills, which are modeled as Gaussian distributions over trajectories. These are analytically tractable and can be learned from a small number of demonstrations. However, both the original ProMP formulation and the subsequent approaches only provide solutions to specific movement adaptation problems, e.g., obstacle avoidance, and a generic, unifying, probabilistic approach to adaptation is missing. In this article, we develop a generic probabilistic framework for adapting ProMPs. We unify previous adaptation techniques, for example, various types of obstacle avoidance, via-points, and mutual avoidance, in one single framework and combine them to solve complex robotic problems. Additionally, we derive novel adaptation techniques such as temporally unbound via-points and mutual avoidance. We formulate adaptation as a constrained optimization problem, where we minimize the Kullback–Leibler divergence between the adapted distribution and the distribution of the original primitive,while we constrain the probability mass associated with undesired trajectories to be low. We demonstrate our approach on several adaptation problems on simulated planar robot arms and seven-degree-of-freedom Franka Emika robots in a dual-robot-arm setting.

Deep state-space models (DSSMs) enable temporal predictions by learning the underlying dynamics of observed sequence data. They are often trained by maximising the evidence lower bound. However, as we show, this does not ensure the model actually learns the underlying dynamics. We therefore propose a constrained optimisation framework as a general approach for training DSSMs. Building upon this, we introduce the extended Kalman VAE (EKVAE), which combines amortised variational inference with classic Bayesian filtering/smoothing to model dynamics more accurately than RNN-based DSSMs. Our results show that the constrained optimisation framework significantly improves system identification and prediction accuracy on the example of established state-of-the-art DSSMs. The EKVAE outperforms previous models w.r.t. prediction accuracy, achieves remarkable results in identifying dynamical systems, and can furthermore successfully learn state-space representations where static and dynamic features are disentangled.

We propose to learn a hierarchical prior in the context of variational autoencoders to avoid the over-regularisation resulting from a standard normal prior distribution. To incentivise an informative latent representation of the data, we formulate the learning problem as a constrained optimisation problem by extending the Taming VAEs framework to two-level hierarchical models. We introduce a graph-based interpolation method, which shows that the topology of the learned latent representation corresponds to the topology of the data manifold---and present several examples, where desired properties of latent representation such as smoothness and simple explanatory factors are learned by the prior.

Generative neural networks are probabilistic models that implement sampling using feedforward neural networks: they take a random input vector and produce a sample from a probability distribution defined by the network weights. These models are expressive and allow efficient computation of samples and derivatives, but cannot be used for computing likelihoods or for marginalization. The generative-adversarial training method allows to train such models through the use of an auxiliary discriminative neural network. We show that the generative-adversarial approach is a special case of an existing more general variational divergence estimation approach. We show that any $f$-divergence can be used for training generative neural networks. We discuss the benefits of various choices of divergence functions on training complexity and the quality of the obtained generative models.

We propose an approximate inference algorithm for continuous time Gaussian-Markov process models with both discrete and continuous time likelihoods. We show that the continuous time limit of the expectation propagation algorithm exists and results in a hybrid fixed point iteration consisting of (1) expectation propagation updates for the discrete time terms and (2) variational updates for the continuous time term. We introduce corrections methods that improve on the marginals of the approximation. This approach extends the classical Kalman-Bucy smoothing procedure to non-Gaussian observations, enabling continuous-time inference in a variety of models, including spiking neuronal models (state-space models with point process observations) and box likelihood models. Experimental results on real and simulated data demonstrate high distributional accuracy and significant computational savings compared to discrete-time approaches in a neural application.

We address the problem of computing approximate marginals in Gaussian probabilistic models by using mean field and fractional Bethe approximations. We define the Gaussian fractional Bethe free energy in terms of the moment parameters of the approximate marginals, derive a lower and an upper bound on the fractional Bethe free energy and establish a necessary condition for the lower bound to be bounded from below. It turns out that the condition is identical to the pairwise normalizability condition, which is known to be a sufficient condition for the convergence of the message passing algorithm. We show that stable fixed points of the Gaussian message passing algorithm are local minima of the Gaussian Bethe free energy. By a counterexample, we disprove the conjecture stating that the unboundedness of the free energy implies the divergence of the message passing algorithm.

We introduce a novel multivariate Laplace (MVL) distribution as a sparsity promoting prior for Bayesian source localization that allows the specification of constraints between and within sources. We represent the MVL distribution as a scale mixture that induces a coupling between source variances instead of their means. Approximation of the posterior marginals using expectation propagation is shown to be very efficient due to properties of the scale mixture representation. The computational bottleneck amounts to computing the diagonal elements of a sparse matrix inverse. Our approach is illustrated using a mismatch negativity paradigm for which MEG data and a structural MRI have been acquired. We show that spatial coupling leads to sources which are active over larger cortical areas as compared with an uncoupled prior.