Q-Ensembles are a model-free approach where input images are fed into different Q-networks and exploration is driven by the assumption that uncertainty is proportional to the variance of the output Q-values obtained. They have been shown to perform relatively well compared to other exploration strategies. Further, model-based approaches, such as encoder-decoder models have been used successfully for next frame prediction given previous frames. This paper proposes to integrate the model-free Q-ensembles and model-based approaches with the hope of compounding the benefits of both and achieving superior exploration as a result. Results show that a model-based trajectory memory approach when combined with Q-ensembles produces superior performance when compared to only using Q-ensembles.
@cite_26: Variational methods have been previously explored as a tractable approximation to Bayesian inference for neural networks. However the approaches proposed so far have only been applicable to a few simple network architectures. This paper introduces an easy-to-implement stochastic variational method (or equivalently, minimum description length loss function) that can be applied to most neural networks. Along the way it revisits several common regularisers from a variational perspective. It also provides a simple pruning heuristic that can both drastically reduce the number of network weights and lead to improved generalisation. Experimental results are provided for a hierarchical multidimensional recurrent neural network applied to the TIMIT speech corpus.
@cite_14: 
@cite_9: The Bayesian framework for model comparison and regularisation is demonstrated by studying interpolation and classification problems modelled with both linear and non-linear models. This framework quantitatively embodies 'Occam's razor'. Over-complex and under-regularised models are automatically inferred to be less probable, even though their flexibility allows them to fit the data better. When applied to 'neural networks', the Bayesian framework makes possible (1) objective comparison of solutions using alternative network architectures; (2) objective stopping rules for network pruning or growing procedures; (3) objective choice of type of weight decay terms (or regularisers); (4) on-line techniques for optimising weight decay (or regularisation constant) magnitude; (5) a measure of the effective number of well-determined parameters in a model; (6) quantified estimates of the error bars on network parameters and on network output. In the case of classification models, it is shown that the careful incorporation of error bar information into a classifier's predictions yields improved performance. Comparisons of the inferences of the Bayesian framework with more traditional cross-validation methods help detect poor underlying assumptions in learning models. The relationship of the Bayesian learning framework to 'active learning' is examined. Objective functions are discussed which measure the expected informativeness of candidate data measurements, in the context of both interpolation and classification problems. The concepts and methods described in this thesis are quite general and will be applicable to other data modelling problems whether they involve regression, classification or density estimation.
@cite_21: 
@cite_6: Deep neural networks (NNs) are powerful black box predictors that have recently achieved impressive performance on a wide spectrum of tasks. Quantifying predictive uncertainty in NNs is a challenging and yet unsolved problem. Bayesian NNs, which learn a distribution over weights, are currently the state-of-the-art for estimating predictive uncertainty; however these require significant modifications to the training procedure and are computationally expensive compared to standard (non-Bayesian) NNs. We propose an alternative to Bayesian NNs that is simple to implement, readily parallelizable, requires very little hyperparameter tuning, and yields high quality predictive uncertainty estimates. Through a series of experiments on classification and regression benchmarks, we demonstrate that our method produces well-calibrated uncertainty estimates which are as good or better than approximate Bayesian NNs. To assess robustness to dataset shift, we evaluate the predictive uncertainty on test examples from known and unknown distributions, and show that our method is able to express higher uncertainty on out-of-distribution examples. We demonstrate the scalability of our method by evaluating predictive uncertainty estimates on ImageNet.
@cite_27: We introduce a new, efficient, principled and backpropagation-compatible algorithm for learning a probability distribution on the weights of a neural network, called Bayes by Backprop. It regularises the weights by minimising a compression cost, known as the variational free energy or the expected lower bound on the marginal likelihood. We show that this principled kind of regularisation yields comparable performance to dropout on MNIST classification. We then demonstrate how the learnt uncertainty in the weights can be used to improve generalisation in non-linear regression problems, and how this weight uncertainty can be used to drive the exploration-exploitation trade-off in reinforcement learning.
@cite_23: The Relevance Vector Machine (RVM) is a sparse approximate Bayesian kernel method. It provides full predictive distributions for test cases. However, the predictive uncertainties have the unintuitive property, that they get smaller the further you move away from the training cases. We give a thorough analysis. Inspired by the analogy to non-degenerate Gaussian Processes, we suggest augmentation to solve the problem. The purpose of the resulting model, RVM*, is primarily to corroborate the theoretical and experimental analysis. Although RVM* could be used in practical applications, it is no longer a truly sparse model. Experiments show that sparsity comes at the expense of worse predictive. distributions.
@cite_25: 
@cite_20: 
Current approaches to quantifying uncertainty have mostly been Bayesian where a prior distribution is specified over the parameters of the Neural Network and then using the training data, the computed posterior distribution over the parameters is used to calculate the uncertainty @cite_21 . Since this form of Bayesian inference is computationally intractable, approaches have ranged from Laplace Approximation @cite_9 , Markov Chain Monte Carlo methods @cite_26 to Variational Bayesian Inference methods @cite_27 @cite_20 @cite_14 . These methods however suffer from issues due to bounds of computational power and over-reliance on the correctness of the prior probability distribution over the parameters. Having priors of convenience can in fact lead to unreasonable uncertainty estimates @cite_23 . In order to overcome these challenges and produce a more robust uncertainty estimate, @cite_6 proposed using an ensemble of Neural Networks trained under a defined scoring rule. This approach when compared to Bayesian approaches is much simpler, has parallelization advantages and achieves state-of-the-art or better performance. State-of-the-art performance before this was achieved by MC-dropout which can also in essence be considered an ensemble approach where the predictions are averaged over an ensemble of Neural Networks with parameter sharing @cite_25 .