arXiv subjects

Alessandro Marin Vargas

Publications and source records attributed to Alessandro Marin Vargas.

4 recordsLinked to original sources

arXiv2026

Dynamic Vine Copulas: Detecting and Quantifying Time-Varying Higher-Order Interactions

Time-varying dependence is often modeled with dynamic correlations or Gaussian graphical models, but multivariate systems can change through tail behavior, asymmetry, or conditional structure even when correlations are nearly stable. We introduce Dynamic Vine Copulas (DVC), a temporal vine-copula framework for estimating and diagnosing sequence-wide non-Gaussian dependence. DVC fixes a chosen vine factorization for comparability; the framework applies to C-, D-, and R-vines, and our experiments use fixed-root-order C-vines. Pair-copula states evolve through smooth parameter trajectories or temporally regularized family-switching paths. The main diagnostic is a held-out comparison between a full vine and its matched 1-truncated version, which separates flexible first-tree pairwise dependence from evidence contributed by higher-tree conditional terms. At the population level, under a correct fixed vine and the simplifying assumption, this contrast equals the higher-tree component of a vine total-correlation decomposition; in finite samples, it is a predictive diagnostic. In controlled benchmarks, DVC detects Student-t degrees-of-freedom changes, Clayton-to-Gumbel switches, and recurrent conditional-interaction episodes missed or conflated by Gaussian dynamic baselines. The higher-tree score remains near zero in pairwise-only regimes and rises during conditional-interaction regimes. On Allen Visual Behavior Neuropixels data, DVC identifies a reproducible time-indexed higher-tree signal that is positive across held-out splits and vanishes under a decorrelated null, indicating simultaneous cross-area dependence. DVC therefore provides a flexible temporal copula model and an interpretable test of whether temporal dependence changes are pairwise or conditional.

stat.ML↗

arXiv2023

Latent Exploration for Reinforcement Learning

In Reinforcement Learning, agents learn policies by exploring and interacting with the environment. Due to the curse of dimensionality, learning policies that map high-dimensional sensory input to motor output is particularly challenging. During training, state of the art methods (SAC, PPO, etc.) explore the environment by perturbing the actuation with independent Gaussian noise. While this unstructured exploration has proven successful in numerous tasks, it can be suboptimal for overactuated systems. When multiple actuators, such as motors or muscles, drive behavior, uncorrelated perturbations risk diminishing each other's effect, or modifying the behavior in a task-irrelevant way. While solutions to introduce time correlation across action perturbations exist, introducing correlation across actuators has been largely ignored. Here, we propose LATent TIme-Correlated Exploration (Lattice), a method to inject temporally-correlated noise into the latent state of the policy network, which can be seamlessly integrated with on- and off-policy algorithms. We demonstrate that the noisy actions generated by perturbing the network's activations can be modeled as a multivariate Gaussian distribution with a full covariance matrix. In the PyBullet locomotion tasks, Lattice-SAC achieves state of the art results, and reaches 18% higher reward than unstructured exploration in the Humanoid environment. In the musculoskeletal control environments of MyoSuite, Lattice-PPO achieves higher reward in most reaching and object manipulation tasks, while also finding more energy-efficient policies with reductions of 20-60%. Overall, we demonstrate the effectiveness of structured action noise in time and actuator space for complex motor control tasks. The code is available at: https://github.com/amathislab/lattice.

cs.RO↗

arXiv2022

DMAP: a Distributed Morphological Attention Policy for Learning to Locomote with a Changing Body

Biological and artificial agents need to deal with constant changes in the real world. We study this problem in four classical continuous control environments, augmented with morphological perturbations. Learning to locomote when the length and the thickness of different body parts vary is challenging, as the control policy is required to adapt to the morphology to successfully balance and advance the agent. We show that a control policy based on the proprioceptive state performs poorly with highly variable body configurations, while an (oracle) agent with access to a learned encoding of the perturbation performs significantly better. We introduce DMAP, a biologically-inspired, attention-based policy network architecture. DMAP combines independent proprioceptive processing, a distributed policy with individual controllers for each joint, and an attention mechanism, to dynamically gate sensory information from different body parts to different controllers. Despite not having access to the (hidden) morphology information, DMAP can be trained end-to-end in all the considered environments, overall matching or surpassing the performance of an oracle agent. Thus DMAP, implementing principles from biological motor control, provides a strong inductive bias for learning challenging sensorimotor tasks. Overall, our work corroborates the power of these principles in challenging locomotion tasks.

cs.RO↗

arXiv2021

Measuring and modeling the motor system with machine learning

The utility of machine learning in understanding the motor system is promising a revolution in how to collect, measure, and analyze data. The field of movement science already elegantly incorporates theory and engineering principles to guide experimental work, and in this review we discuss the growing use of machine learning: from pose estimation, kinematic analyses, dimensionality reduction, and closed-loop feedback, to its use in understanding neural correlates and untangling sensorimotor systems. We also give our perspective on new avenues where markerless motion capture combined with biomechanical modeling and neural networks could be a new platform for hypothesis-driven research.

q-bio.QM↗