  Sequential Monte Carlo (SMC), or particle filtering, is a popular class of
methods for sampling from an intractable target distribution using a sequence
of simpler intermediate distributions. Like other importance sampling-based
methods, performance is critically dependent on the proposal distribution: a
bad proposal can lead to arbitrarily inaccurate estimates of the target
distribution. This paper presents a new method for automatically adapting the
proposal using an approximation of the Kullback-Leibler divergence between the
true posterior and the proposal distribution. The method is very flexible,
applicable to any parameterized proposal distribution and it supports online
and batch variants. We use the new framework to adapt powerful proposal
distributions with rich parameterizations based upon neural networks leading to
Neural Adaptive Sequential Monte Carlo (NASMC). Experiments indicate that NASMC
significantly improves inference in a non-linear state space model
outperforming adaptive proposal methods including the Extended Kalman and
Unscented Particle Filters. Experiments also indicate that improved inference
translates into improved parameter learning when NASMC is used as a subroutine
of Particle Marginal Metropolis Hastings. Finally we show that NASMC is able to
train a latent variable recurrent neural network (LV-RNN) achieving results
that compete with the state-of-the-art for polymorphic music modelling. NASMC
can be seen as bridging the gap between adaptive SMC methods and the recent
work in scalable, black-box variational inference.
