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This work considers variational Bayesian inference as an inexpensive and scalable alternative to a fully Bayesian approach in the context of sparsity-promoting priors. In particular, the priors considered arise from scale mixtures of Normal distributions with a generalized inverse Gaussian mixing distribution. This includes the variational Bayesian LASSO as an inexpensive and scalable alternative to the Bayesian LASSO introduced in [65]. It also includes a family of priors which more strongly promote sparsity. For linear models the method requires only the iterative solution of deterministic least squares problems. Furthermore, for p unknown covariates the method can be implemented exactly online with a cost of $O(p^3)$ in computation and $O(p^2)$ in memory per iteration -- in other words, the cost per iteration is independent of n, and in principle infinite data can be considered. For large $p$ an approximation is able to achieve promising results for a cost of $O(p)$ per iteration, in both computation and memory. Strategies for hyper-parameter tuning are also considered. The method is implemented for real and simulated data. It is shown that the performance in terms of variable selection and uncertainty quantification of the variational Bayesian LASSO can be comparable to the Bayesian LASSO for problems which are tractable with that method, and for a fraction of the cost. The present method comfortably handles $n = 65536$, $p = 131073$ on a laptop in less than 30 minutes, and $n = 10^5$, $p = 2.1 \times 10^6$ overnight.

We consider networked sources that generate update messages with a defined rate and we investigate the age of that information at the receiver. Typical applications are in cyber-physical systems that depend on timely sensor updates. We phrase the age of information in the min-plus algebra of the network calculus. This facilitates a variety of models including wireless channels and schedulers with random cross-traffic, as well as sources with periodic and random updates, respectively. We show how the age of information depends on the network service where, e.g., outages of a wireless channel cause delays. Further, our analytical expressions show two regimes depending on the update rate, where the age of information is either dominated by congestive delays or by idle waiting. We find that the optimal update rate strikes a balance between these two effects.

Machine learning models serve critical functions, such as classifying loan applicants as good or bad risks. Each model is trained under the assumption that the data used in training and in the field come from the same underlying unknown distribution. Often, this assumption is broken in practice. It is desirable to identify when this occurs, to minimize the impact on model performance. We suggest a new approach to detecting change in the data distribution by identifying polynomial relations between the data features. We measure the strength of each identified relation using its R-square value. A strong polynomial relation captures a significant trait of the data which should remain stable if the data distribution does not change. We thus use a set of learned strong polynomial relations to identify drift. For a set of polynomial relations that are stronger than a given threshold, we calculate the amount of drift observed for that relation. The amount of drift is measured by calculating the Bayes Factor for the polynomial relation likelihood of the baseline data versus field data. We empirically validate the approach by simulating a range of changes, and identify drift using the Bayes Factor of the polynomial relation likelihood change.

In all areas of human knowledge, datasets are increasing in both size and complexity, creating the need for richer statistical models. This trend is also true for economic data, where high-dimensional and nonlinear/nonparametric inference is the norm in several fields of applied econometric work. The purpose of this paper is to introduce the reader to the world of Bayesian model determination, by surveying modern shrinkage and variable selection algorithms and methodologies. Bayesian inference is a natural probabilistic framework for quantifying uncertainty and learning about model parameters, and this feature is particularly important for inference in modern models of high dimensions and increased complexity. We begin with a linear regression setting in order to introduce various classes of priors that lead to shrinkage/sparse estimators of comparable value to popular penalized likelihood estimators (e.g.\ ridge, lasso). We explore various methods of exact and approximate inference, and discuss their pros and cons. Finally, we explore how priors developed for the simple regression setting can be extended in a straightforward way to various classes of interesting econometric models. In particular, the following case-studies are considered, that demonstrate application of Bayesian shrinkage and variable selection strategies to popular econometric contexts: i) vector autoregressive models; ii) factor models; iii) time-varying parameter regressions; iv) confounder selection in treatment effects models; and v) quantile regression models. A MATLAB package and an accompanying technical manual allow the reader to replicate many of the algorithms described in this review.

We introduce the Generalized Energy Based Model (GEBM) for generative modelling. These models combine two trained components: a base distribution (generally an implicit model), which can learn the support of data with low intrinsic dimension in a high dimensional space; and an energy function, to refine the probability mass on the learned support. Both the energy function and base jointly constitute the final model, unlike GANs, which retain only the base distribution (the "generator"). GEBMs are trained by alternating between learning the energy and the base. We show that both training stages are well-defined: the energy is learned by maximising a generalized likelihood, and the resulting energy-based loss provides informative gradients for learning the base. Samples from the posterior on the latent space of the trained model can be obtained via MCMC, thus finding regions in this space that produce better quality samples. Empirically, the GEBM samples on image-generation tasks are of much better quality than those from the learned generator alone, indicating that all else being equal, the GEBM will outperform a GAN of the same complexity. When using normalizing flows as base measures, GEBMs succeed on density modelling tasks, returning comparable performance to direct maximum likelihood of the same networks.

We consider the problem of estimating the difference between two functional undirected graphical models with shared structures. In many applications, data are naturally regarded as a vector of random functions rather than a vector of scalars. For example, electroencephalography (EEG) data are more appropriately treated as functions of time. In such a problem, not only can the number of functions measured per sample be large, but each function is itself an infinite dimensional object, making estimation of model parameters challenging. This is further complicated by the fact that the curves are usually only observed at discrete time points. We first define a functional differential graph that captures the differences between two functional graphical models and formally characterize when the functional differential graph is well defined. We then propose a method, FuDGE, that directly estimates the functional differential graph without first estimating each individual graph. This is particularly beneficial in settings where the individual graphs are dense, but the differential graph is sparse. We show that FuDGE consistently estimates the functional differential graph even in a high-dimensional setting for both fully observed and discretely observed function paths. We illustrate the finite sample properties of our method through simulation studies. We also propose a competing method, the Joint Functional Graphical Lasso, which generalizes the Joint Graphical Lasso to the functional setting. Finally, we apply our method to EEG data to uncover differences in functional brain connectivity between a group of individuals with alcohol use disorder and a control group.

The development of data acquisition systems is facilitating the collection of data that are apt to be modelled as functional data. In some applications, the interest lies in the identification of significant differences in group functional means defined by varying experimental conditions, which is known as functional analysis of variance (FANOVA). With real data, it is common that the sample under study is contaminated by some outliers, which can strongly bias the analysis. In this paper, we propose a new robust nonparametric functional ANOVA method (RoFANOVA) that reduces the weights of outlying functional data on the results of the analysis. It is implemented through a permutation test based on a test statistic obtained via a functional extension of the classical robust $ M $-estimator. By means of an extensive Monte Carlo simulation study, the proposed test is compared with some alternatives already presented in the literature, in both one-way and two-way designs. The performance of the RoFANOVA is demonstrated in the framework of a motivating real-case study in the field of additive manufacturing that deals with the analysis of spatter ejections. The RoFANOVA method is implemented in the R package rofanova, available online at //github.com/unina-sfere/rofanova.

Stationary points embedded in the derivatives are often critical for a model to be interpretable and may be considered as key features of interest in many applications. We propose a semiparametric Bayesian model to efficiently infer the locations of stationary points of a nonparametric function, while treating the function itself as a nuisance parameter. We use Gaussian processes as a flexible prior for the underlying function and impose derivative constraints to control the function's shape via conditioning. We develop an inferential strategy that intentionally restricts estimation to the case of at least one stationary point, bypassing possible mis-specifications in the number of stationary points and avoiding the varying dimension problem that often brings in computational complexity. We illustrate the proposed methods using simulations and then apply the method to the estimation of event-related potentials (ERP) derived from electroencephalography (EEG) signals. We show how the proposed method automatically identifies characteristic components and their latencies at the individual level, which avoids the excessive averaging across subjects which is routinely done in the field to obtain smooth curves. By applying this approach to EEG data collected from younger and older adults during a speech perception task, we are able to demonstrate how the time course of speech perception processes changes with age.

The main contribution of this paper is a new submap joining based approach for solving large-scale Simultaneous Localization and Mapping (SLAM) problems. Each local submap is independently built using the local information through solving a small-scale SLAM; the joining of submaps mainly involves solving linear least squares and performing nonlinear coordinate transformations. Through approximating the local submap information as the state estimate and its corresponding information matrix, judiciously selecting the submap coordinate frames, and approximating the joining of a large number of submaps by joining only two maps at a time, either sequentially or in a more efficient Divide and Conquer manner, the nonlinear optimization process involved in most of the existing submap joining approaches is avoided. Thus the proposed submap joining algorithm does not require initial guess or iterations since linear least squares problems have closed-form solutions. The proposed Linear SLAM technique is applicable to feature-based SLAM, pose graph SLAM and D-SLAM, in both two and three dimensions, and does not require any assumption on the character of the covariance matrices. Simulations and experiments are performed to evaluate the proposed Linear SLAM algorithm. Results using publicly available datasets in 2D and 3D show that Linear SLAM produces results that are very close to the best solutions that can be obtained using full nonlinear optimization algorithm started from an accurate initial guess. The C/C++ and MATLAB source codes of Linear SLAM are available on OpenSLAM.

This paper addresses the problem of viewpoint estimation of an object in a given image. It presents five key insights that should be taken into consideration when designing a CNN that solves the problem. Based on these insights, the paper proposes a network in which (i) The architecture jointly solves detection, classification, and viewpoint estimation. (ii) New types of data are added and trained on. (iii) A novel loss function, which takes into account both the geometry of the problem and the new types of data, is propose. Our network improves the state-of-the-art results for this problem by 9.8%.