We consider online computation of expectations of additive state functionals under general path probability measures proportional to products of unnormalised transition densities. These transition densities are assumed to be intractable but possible to estimate, with or without bias. Using pseudo-marginalisation techniques we are able to extend the particle-based, rapid incremental smoother (PaRIS) algorithm proposed in [J.Olsson and J.Westerborn. Efficient particle-based online smoothing in general hidden Markov models: The PaRIS algorithm. Bernoulli, 23(3):1951--1996, 2017] to this setting. The resulting algorithm, which has a linear complexity in the number of particles and constant memory requirements, applies to a wide range of challenging path-space Monte Carlo problems, including smoothing in partially observed diffusion processes and models with intractable likelihood. The algorithm is furnished with several theoretical results, including a central limit theorem, establishing its convergence and numerical stability. Moreover, under strong mixing assumptions we establish a novel $O(n \varepsilon)$ bound on the asymptotic bias of the algorithm, where $n$ is the path length and $\varepsilon$ controls the bias of the density estimators.
In this note we introduce an estimate for the marginal likelihood associated to hidden Markov models (HMMs) using sequential Monte Carlo (SMC) approximations of the generalized two-filter smoothing decomposition (Briers, 2010). This estimate is shown to be unbiased and a central limit theorem (CLT) is established. This latter CLT also allows one to prove a CLT associated to estimates of expectations w.r.t. a marginal of the joint smoothing distribution; these form some of the first theoretical results associated to the SMC approximation of the generalized two-filter smoothing decomposition. Th…
Sequential Monte Carlo (SMC) methods are a widely used set of computational tools for inference in non-linear non-Gaussian state-space models. We propose a new SMC algorithm to compute the expectation of additive functionals recursively. Essentially, it is an online or forward-only implementation of a forward filtering backward smoothing SMC algorithm proposed in Doucet .et .al (2000). Compared to the standard path space SMC estimator whose asymptotic variance increases quadratically with time even under favourable mixing assumptions, the asymptotic variance of the proposed SMC estimator only …
We propose two new Bayesian smoothing methods for general state-space models with unknown parameters. The first approach is based on the particle learning and smoothing algorithm, but with an adjustment in the backward resampling weights. The second is a new method combining sequential parameter learning and smoothing algorithms for general state-space models. This method is straightforward but effective, and we find it is the best existing Sequential Monte Carlo algorithm to solve the joint Bayesian smoothing problem. We first illustrate the methods on three benchmark models using simulated d…
Gerber and Chopin (2015) recently introduced Sequential quasi-Monte Carlo (SQMC) algorithms as an efficient way to perform filtering in state-space models. The basic idea is to replace random variables with low-discrepancy point sets, so as to obtain faster convergence than with standard particle filtering. Gerber and Chopin (2015) describe briefly several ways to extend SQMC to smoothing, but do not provide supporting theory for this extension. We discuss more thoroughly how smoothing may be performed within SQMC, and derive convergence results for the so-obtained smoothing algorithms. We con…
Particle smoothing methods are used for inference of stochastic processes based on noisy observations. Typically, the estimation of the marginal posterior distribution given all observations is cumbersome and computational intensive. In this paper, we propose a simple algorithm based on path integral control theory to estimate the smoothing distribution of continuous-time diffusion processes with partial observations. In particular, we use an adaptive importance sampling method to improve the effective sampling size of the posterior over processes given the observations and the reliability of …
We provide a new strategy built on the divide-and-conquer approach by Lindsten et al. (2017) to investigate the smoothing problem in a hidden Markov model. We employ this approach to decompose a hidden Markov model into sub-models with intermediate target distributions based on an auxiliary tree structure and produce independent samples from the sub-models at the leaf nodes towards the original model of interest at the root. We review the target distribution in the sub-models suggested by Lindsten et al. and propose two new classes of target distributions, which are the estimates of the (joint…
We provide a framework which admits a number of ``marginal'' sequential Monte Carlo (SMC) algorithms as particular cases -- including the marginal particle filter [Klaas et al., 2005, in: Proceedings of Uncertainty in Artificial Intelligence, pp. 308--315], , the independent particle filter [Lin et al., 2005, Journal of the American Statistical Association 100, pp. 1412--1421] and linear-cost Approximate Bayesian Computation SMC [Sisson et al., 2007, Proceedings of the National Academy of Sciences (USA) 104, pp. 1760--1765.]. We provide conditions under which such algorithms obey laws of large…
Recently, Fasano, Rebaudo, Durante and Petrone (2019) provided closed-form expressions for the filtering, predictive and smoothing distributions of multivariate dynamic probit models, leveraging on unified skew-normal distribution properties. This allows to develop algorithms to draw independent and identically distributed samples from such distributions, as well as sequential Monte Carlo procedures for the filtering and predictive distributions, allowing to overcome computational bottlenecks that may arise for large sample sizes. In this paper, we briefly review the above-mentioned closed-for…
This paper concerns the use of sequential Monte Carlo methods (SMC) for smoothing in general state space models. A well-known problem when applying the standard SMC technique in the smoothing mode is that the resampling mechanism introduces degeneracy of the approximation in the path space. However, when performing maximum likelihood estimation via the EM algorithm, all functionals involved are of additive form for a large subclass of models. To cope with the problem in this case, a modification of the standard method (based on a technique proposed by Kitagawa and Sato) is suggested. Our algor…
This paper focuses on Sequential Monte Carlo approximations of smoothing distributions in conditionally linear and Gaussian state spaces. To reduce Monte Carlo variance of smoothers, it is typical in these models to use Rao-Blackwellization: particle approximation is used to sample sequences of hidden regimes while the Gaussian states are explicitly integrated conditional on the sequence of regimes and observations, using variants of the Kalman filter / smoother. The first successful attempt to use Rao-Blackwellization for smoothing extends the Bryson-Frazier smoother for Gaussian linear state…
Monte Carlo sampling methods often suffer from long correlation times. Consequently, these methods must be run for many steps to generate an independent sample. In this paper a method is proposed to overcome this difficulty. The method utilizes information from rapidly equilibrating coarse Markov chains that sample marginal distributions of the full system. This is accomplished through exchanges between the full chain and the auxiliary coarse chains. Results of numerical tests on the bridge sampling and filtering/smoothing problems for a stochastic differential equation are presented.
We consider a method for approximate inference in hidden Markov models (HMMs). The method circumvents the need to evaluate conditional densities of observations given the hidden states. It may be considered an instance of Approximate Bayesian Computation (ABC) and it involves the introduction of auxiliary variables valued in the same space as the observations. The quality of the approximation may be controlled to arbitrary precision through a parameter ε>0 . We provide theoretical results which quantify, in terms of ε, the ABC error in approximation of expectations of additive functionals with…
Bayesian inference for models that have an intractable partition function is known as a doubly intractable problem, where standard Monte Carlo methods are not applicable. The past decade has seen the development of auxiliary variable Monte Carlo techniques (Møller et al., 2006; Murray et al., 2006) for tackling this problem; these approaches being members of the more general class of pseudo-marginal, or exact-approximate, Monte Carlo algorithms (Andrieu and Roberts, 2009), which make use of unbiased estimates of intractable posteriors. Everitt et al. (2017) investigated the use of exact-approx…
"Particle methods" are sequential Monte Carlo algorithms, typically involving importance sampling, that are used to estimate and sample from joint and marginal densities from a collection of a, presumably increasing, number of random variables. In particular, a particle filter aims to estimate the current state $X_{n}$ of a stochastic system that is not directly observable by estimating a posterior distribution $π(x_{n}|y_{1},y_{2}, \ldots, y_{n})$ where the $\{Y_{n}\}$ are observations related to the $\{X_{n}\}$ through some measurement model $π(y_{n}|x_{n})$. A particle smoother aims to esti…
We derive and study SQMC (Sequential Quasi-Monte Carlo), a class of algorithms obtained by introducing QMC point sets in particle filtering. SQMC is related to, and may be seen as an extension of, the array-RQMC algorithm of L'Ecuyer et al. (2006). The complexity of SQMC is $O(N \log N)$, where $N$ is the number of simulations at each iteration, and its error rate is smaller than the Monte Carlo rate $O_P(N^{-1/2})$. The only requirement to implement SQMC is the ability to write the simulation of particle $x_t^n$ given $x_{t-1}^n$ as a deterministic function of $x_{t-1}^n$ and a fixed number o…
Particle learning (PL) provides state filtering, sequential parameter learning and smoothing in a general class of state space models. Our approach extends existing particle methods by incorporating the estimation of static parameters via a fully-adapted filter that utilizes conditional sufficient statistics for parameters and/or states as particles. State smoothing in the presence of parameter uncertainty is also solved as a by-product of PL. In a number of examples, we show that PL outperforms existing particle filtering alternatives and proves to be a competitor to MCMC.
We present approximate algorithms for performing smoothing in a class of high-dimensional state-space models via sequential Monte Carlo methods ("particle filters"). In high dimensions, a prohibitively large number of Monte Carlo samples ("particles") -- growing exponentially in the dimension of the state space -- is usually required to obtain a useful smoother. Using blocking strategies as in Rebeschini and Van Handel (2015) (and earlier pioneering work on blocking), we exploit the spatial ergodicity properties of the model to circumvent this curse of dimensionality. We thus obtain approximat…
We present simple conditions under which the limiting genealogical process associated with a class of interacting particle systems with non-neutral selection mechanisms, as the number of particles grows, is a time-rescaled Kingman coalescent. Sequential Monte Carlo algorithms are popular methods for approximating integrals in problems such as non-linear filtering and smoothing which employ this type of particle system. Their performance depends strongly on the properties of the induced genealogical process. We verify the conditions of our main result for standard sequential Monte Carlo algorit…
This paper presents an algorithm for Monte Carlo fixed-lag smoothing in state-space models defined by a diffusion process observed through noisy discrete-time measurements. Based on a particles approximation of the filtering and smoothing distributions, the method relies on a simulation technique of conditioned diffusions. The proposed sequential smoother can be applied to general non linear and multidimensional models, like the ones used in environmental applications. The smoothing of a turbulent flow in a high-dimensional context is given as a practical example.
Sequential Monte Carlo techniques are useful for state estimation in non-linear, non-Gaussian dynamic models. These methods allow us to approximate the joint posterior distribution using sequential importance sampling. In this framework, the dimension of the target distribution grows with each time step, thus it is necessary to introduce some resampling steps to ensure that the estimates provided by the algorithm have a reasonable variance. In many applications, we are only interested in the marginal filtering distribution which is defined on a space of fixed dimension. We present a Sequential…
Non-Gaussian state-space models arise in several applications, and within this framework the binary time series setting provides a relevant example. However, unlike for Gaussian state-space models - where filtering, predictive and smoothing distributions are available in closed form - binary state-space models require approximations or sequential Monte Carlo strategies for inference and prediction. This is due to the apparent absence of conjugacy between the Gaussian states and the likelihood induced by the observation equation for the binary data. In this article we prove that the filtering, …
In this comment we consider whether QMC methods can be further embedded within SMC schemes in settings in which the transition density of the latent process is intractable and pseudo-marginal methods are deployed.
We consider the estimation of smoothing parameters and variance components in models with a regular log likelihood subject to quadratic penalization of the model coefficients, via a generalization of the method of Fellner (1986) and Schall (1991). In particular: (i) we generalize the original method to the case of penalties that are linear in several smoothing parameters, thereby covering the important cases of tensor product and adaptive smoothers; (ii) we show why the method's steps increase the restricted marginal likelihood of the model, that it tends to converge faster than the EM algorit…
We describe an "embarrassingly parallel" method for Bayesian phylogenetic inference, annealed Sequential Monte Carlo, based on recent advances in the Sequential Monte Carlo literature such as adaptive determination of annealing parameters. The algorithm provides an approximate posterior distribution over trees and evolutionary parameters as well as an unbiased estimator for the marginal likelihood. This unbiasedness property can be used for the purpose of testing the correctness of posterior simulation software. We evaluate the performance of phylogenetic annealed Sequential Monte Carlo by rev…
When an interval of integers between the lower bound $l_i$ and the upper bound $u_i$ is the support of the marginal distribution $n_i|(n_{i-1}, ...,n_1)$, Chen et al, 2005 noticed that sampling from the interval at each step, for $n_i$ during a sequential importance sampling (SIS) procedure, always produces a table which satisfies the marginal constraints. However, in general, the interval may not be equal to the support of the marginal distribution. In this case, the SIS procedure may produce tables which do not satisfy the marginal constraints, leading to rejection Chen et al 2006. In this p…
Ecole Polytechnique Fédérale de Lausanne（洛桑联邦理工学院）
Multiple generalized additive models (GAMs) are a type of distributional regression wherein parameters of probability distributions depend on predictors through smooth functions, with selection of the degree of smoothness via $L_2$ regularization. Multiple GAMs allow finer statistical inference by incorporating explanatory information in any or all of the parameters of the distribution. Owing to their nonlinearity, flexibility and interpretability, GAMs are widely used, but reliable and fast methods for automatic smoothing in large datasets are still lacking, despite recent advances. We develo…
We present a novel sequential Monte Carlo approach to online smoothing of additive functionals in a very general class of path-space models. Hitherto, the solutions proposed in the literature suffer from either long-term numerical instability due to particle-path degeneracy or, in the case that degeneracy is remedied by particle approximation of the so-called backward kernel, high computational demands. In order to balance optimally computational speed against numerical stability, we propose to furnish a (fast) naive particle smoother, propagating recursively a sample of particles and associat…
Sequential Monte Carlo (SMC) methods, such as the particle filter, are by now one of the standard computational techniques for addressing the filtering problem in general state-space models. However, many applications require post-processing of data offline. In such scenarios the smoothing problem--in which all the available data is used to compute state estimates--is of central interest. We consider the smoothing problem for a class of conditionally linear Gaussian models. We present a forward-backward-type Rao-Blackwellized particle smoother (RBPS) that is able to exploit the tractable subst…
In 2005, Chen et al introduced a sequential importance sampling (SIS) procedure to analyze zero-one two-way tables with given fixed marginal sums (row and column sums) via the conditional Poisson (CP) distribution. They showed that compared with Monte Carlo Markov chain (MCMC)-based approaches, their importance sampling method is more efficient in terms of running time and also provides an easy and accurate estimate of the total number of contingency tables with fixed marginal sums. In this paper we extend their result to zero-one multi-way ($d$-way, $d \geq 2$) contingency tables under the no…
Manning College of Information and Computer Sciences, University of Massachusetts Amherst（马萨诸塞大学阿默斯特分校曼宁信息与计算机科学学院）
Variational inference for state space models (SSMs) is known to be hard in general. Recent works focus on deriving variational objectives for SSMs from unbiased sequential Monte Carlo estimators. We reveal that the marginal particle filter is obtained from sequential Monte Carlo by applying Rao-Blackwellization operations, which sacrifices the trajectory information for reduced variance and differentiability. We propose the variational marginal particle filter (VMPF), which is a differentiable and reparameterizable variational filtering objective for SSMs based on an unbiased estimator. We fin…
In a recent paper Beskos et al (2011), the Sequential Monte Carlo (SMC) sampler introduced in Del Moral et al (2006), Neal (2001) has been shown to be asymptotically stable in the dimension of the state space d at a cost that is only polynomial in d, when N the number of Monte Carlo samples, is fixed. More precisely, it has been established that the effective sample size (ESS) of the ensuing (approximate) sample and the Monte Carlo error of fixed dimensional marginals will converge as $d$ grows, with a computational cost of $\mathcal{O}(Nd^2)$. In the present work, further results on SMC metho…
We present a novel algorithm, an adaptive-lag smoother, approximating efficiently, in an online fashion, sequences of expectations under the marginal smoothing distributions in general state-space models. The algorithm evolves recursively a bank of estimators, one for each marginal, in resemblance with the so-called particle-based, rapid incremental smoother (PaRIS). Each estimator is propagated until a stopping criterion, measuring the fluctuations of the estimates, is met. The presented algorithm is furnished with theoretical results describing its asymptotic limit and memory usage.
When an interval of integers between the lower bound l_i and the upper bounds u_i is the support of the marginal distribution n_i|(n_{i-1}, ...,n_1), Chen et al. 2005 noticed that sampling from the interval at each step, for n_i during the sequential importance sampling (SIS) procedure, always produces a table which satisfies the marginal constraints. However, in general, the interval may not be equal to the support of the marginal distribution. In this case, the SIS procedure may produce tables which do not satisfy the marginal constraints, leading to rejection [Chen et al. 2006]. Rejecting t…
We introduce a new sequential Monte Carlo algorithm we call the particle cascade. The particle cascade is an asynchronous, anytime alternative to traditional particle filtering algorithms. It uses no barrier synchronizations which leads to improved particle throughput and memory efficiency. It is an anytime algorithm in the sense that it can be run forever to emit an unbounded number of particles while keeping within a fixed memory budget. We prove that the particle cascade is an unbiased marginal likelihood estimator which means that it can be straightforwardly plugged into existing pseudomar…
We consider the problem of state estimation in general state-space models using variational inference. For a generic variational family defined using the same backward decomposition as the actual joint smoothing distribution, we establish for the first time that, under mixing assumptions, the variational approximation of expectations of additive state functionals induces an error which grows at most linearly in the number of observations. This guarantee is consistent with the known upper bounds for the approximation of smoothing distributions using standard Monte Carlo methods. Moreover, we pr…
We consider the combined use of resampling and partial rejection control in sequential Monte Carlo methods, also known as particle filters. While the variance reducing properties of rejection control are known, there has not been (to the best of our knowledge) any work on unbiased estimation of the marginal likelihood (also known as the model evidence or the normalizing constant) in this type of particle filter. Being able to estimate the marginal likelihood without bias is highly relevant for model comparison, computation of interpretable and reliable confidence intervals, and in exact approx…
Recently-proposed particle MCMC methods provide a flexible way of performing Bayesian inference for parameters governing stochastic kinetic models defined as Markov (jump) processes (MJPs). Each iteration of the scheme requires an estimate of the marginal likelihood calculated from the output of a sequential Monte Carlo scheme (also known as a particle filter). Consequently, the method can be extremely computationally intensive. We therefore aim to avoid most instances of the expensive likelihood calculation through use of a fast approximation. We consider two approximations: the chemical Lang…
We introduce a dynamic generative model, Bayesian allocation model (BAM), which establishes explicit connections between nonnegative tensor factorization (NTF), graphical models of discrete probability distributions and their Bayesian extensions, and the topic models such as the latent Dirichlet allocation. BAM is based on a Poisson process, whose events are marked by using a Bayesian network, where the conditional probability tables of this network are then integrated out analytically. We show that the resulting marginal process turns out to be a Polya urn, an integer valued self-reinforcing …
Particle smoothers are SMC (Sequential Monte Carlo) algorithms designed to approximate the joint distribution of the states given observations from a state-space model. We propose dSMC (de-Sequentialized Monte Carlo), a new particle smoother that is able to process $T$ observations in $\mathcal{O}(\log T)$ time on parallel architecture. This compares favourably with standard particle smoothers, the complexity of which is linear in $T$. We derive $\mathcal{L}_p$ convergence results for dSMC, with an explicit upper bound, polynomial in $T$. We then discuss how to reduce the variance of the smoot…
In this paper we assume a multivariate risk model has been developed for a portfolio and its capital derived as a homogeneous risk measure. The Euler (or gradient) principle, then, states that the capital to be allocated to each component of the portfolio has to be calculated as an expectation conditional to a rare event, which can be challenging to evaluate in practice. We exploit the copula-dependence within the portfolio risks to design a Sequential Monte Carlo Samplers based estimate to the marginal conditional expectations involved in the problem, showing its efficiency through a series o…
We propose a sequential Markov chain Monte Carlo (SMCMC) algorithm to sample from a sequence of probability distributions, corresponding to posterior distributions at different times in on-line applications. SMCMC proceeds as in usual MCMC but with the stationary distribution updated appropriately each time new data arrive. SMCMC has advantages over sequential Monte Carlo (SMC) in avoiding particle degeneracy issues. We provide theoretical guarantees for the marginal convergence of SMCMC under various settings, including parametric and nonparametric models. The proposed approach is compared to…
This paper revisits classical works of Rauch (1963, et al. 1965) and develops a novel method for maximum likelihood (ML) smoothing estimation from incomplete information/data of stochastic state-space systems. Score function and conditional observed information matrices of incomplete data are introduced and their distributional identities are established. Using these identities, the ML smoother $\widehat{x}_{k\vert n}^s =\argmax_{x_k} \log f(x_k,\widehat{x}_{k+1\vert n}^s, y_{0:n}\vertθ)$, $k\leq n-1$, is presented. The result shows that the ML smoother gives an estimate of state $x_k$ with mo…
Columbia University（哥伦比亚大学）；Cornell University（康奈尔大学）
A body of recent work has focused on constructing a variational family of filtered distributions using Sequential Monte Carlo (SMC). Inspired by this work, we introduce Particle Smoothing Variational Objectives (SVO), a novel backward simulation technique and smoothed approximate posterior defined through a subsampling process. SVO augments support of the proposal and boosts particle diversity. Recent literature argues that increasing the number of samples K to obtain tighter variational bounds may hurt the proposal learning, due to a signal-to-noise ratio (SNR) of gradient estimators decreasi…
We consider importance sampling (IS) type weighted estimators based on Markov chain Monte Carlo (MCMC) targeting an approximate marginal of the target distribution. In the context of Bayesian latent variable models, the MCMC typically operates on the hyperparameters, and the subsequent weighting may be based on IS or sequential Monte Carlo (SMC), but allows for multilevel techniques as well. The IS approach provides a natural alternative to delayed acceptance (DA) pseudo-marginal/particle MCMC, and has many advantages over DA, including a straightforward parallelisation and additional flexibil…
University of Toronto（多伦多大学）；University of Cambridge（剑桥大学）；Twitter（推特）；Harvard University（哈佛大学）
Computing the marginal likelihood (ML) of a model requires marginalizing out all of the parameters and latent variables, a difficult high-dimensional summation or integration problem. To make matters worse, it is often hard to measure the accuracy of one's ML estimates. We present bidirectional Monte Carlo, a technique for obtaining accurate log-ML estimates on data simulated from a model. This method obtains stochastic lower bounds on the log-ML using annealed importance sampling or sequential Monte Carlo, and obtains stochastic upper bounds by running these same algorithms in reverse startin…
We build on auto-encoding sequential Monte Carlo (AESMC): a method for model and proposal learning based on maximizing the lower bound to the log marginal likelihood in a broad family of structured probabilistic models. Our approach relies on the efficiency of sequential Monte Carlo (SMC) for performing inference in structured probabilistic models and the flexibility of deep neural networks to model complex conditional probability distributions. We develop additional theoretical insights and introduce a new training procedure which improves both model and proposal learning. We demonstrate that…
Stellenbosch University（斯泰伦博斯大学）；National Institute for Theoretical Physics（国家理论物理研究所）
We consider estimating the marginal likelihood in settings with independent and identically distributed (i.i.d.) data. We propose estimating the predictive distributions in a sequential factorization of the marginal likelihood in such settings by using stochastic gradient Markov Chain Monte Carlo techniques. This approach is far more efficient than traditional marginal likelihood estimation techniques such as nested sampling and annealed importance sampling due to its use of mini-batches to approximate the likelihood. Stability of the estimates is provided by an adaptive annealing schedule. Th…
Gaussian process regression is a popular method for non-parametric probabilistic modeling of functions. The Gaussian process prior is characterized by so-called hyperparameters, which often have a large influence on the posterior model and can be difficult to tune. This work provides a method for numerical marginalization of the hyperparameters, relying on the rigorous framework of sequential Monte Carlo. Our method is well suited for online problems, and we demonstrate its ability to handle real-world problems with several dimensions and compare it to other marginalization methods. We also co…
