Learning to Filter with Predictive State Inference Machines
Wen Sun, Arun Venkatraman, Byron Boots, J.Andrew Bagnell
Abstract
Latent state space models are a fundamental and widely used tool for modeling dynamical systems. However, they are difficult to learn from data and learned models often lack performance guarantees on inference tasks such as filtering and prediction. In this work, we present the PREDICTIVE STATE INFERENCE MACHINE (PSIM), a data-driven method that considers the inference procedure on a dynamical system as a composition of predictors. The key idea is that rather than first learning a latent state space model, and then using the learned model for inference, PSIM directly learns predictors for inference in predictive state space. We provide theoretical guarantees for inference, in both realizable and agnostic settings, and showcase practical performance on a variety of simulated and real world robotics benchmarks.
BibTeX
@InProceedings{pmlr-v48-sun16,
title = {Learning to Filter with Predictive State Inference Machines},
author = {Sun, Wen and Venkatraman, Arun and Boots, Byron and Bagnell, J.Andrew},
booktitle = {Proceedings of The 33rd International Conference on Machine Learning},
pages = {1197--1205},
year = {2016},
editor = {Balcan, Maria Florina and Weinberger, Kilian Q.},
volume = {48},
series = {Proceedings of Machine Learning Research},
address = {New York, New York, USA},
month = {20--22 Jun},
publisher = {PMLR},
pdf = {http://proceedings.mlr.press/v48/sun16.pdf},
url = {https://proceedings.mlr.press/v48/sun16.html},
abstract = {Latent state space models are a fundamental and widely used tool for modeling dynamical systems. However, they are difficult to learn from data and learned models often lack performance guarantees on inference tasks such as filtering and prediction. In this work, we present the PREDICTIVE STATE INFERENCE MACHINE (PSIM), a data-driven method that considers the inference procedure on a dynamical system as a composition of predictors. The key idea is that rather than first learning a latent state space model, and then using the learned model for inference, PSIM directly learns predictors for inference in predictive state space. We provide theoretical guarantees for inference, in both realizable and agnostic settings, and showcase practical performance on a variety of simulated and real world robotics benchmarks.}
}