Bayesian Nonparametric Adaptive Control using Gaussian Processes

This technical report is a preprint of an article submitted to a journal.Most current Model Reference Adaptive Control (MRAC) methods rely on parametric adaptive elements, in which the number of parameters of the adaptive element are fixed a priori, often through expert judgment. An example of such an adaptive element are Radial Basis Function Networks (RBFNs), with RBF centers pre-allocated based on the expected operating domain. If the system operates outside of the expected operating domain, this adaptive element can become non-effective in capturing and canceling the uncertainty, thus rendering the adaptive controller only semi-global in nature. This paper investigates a Gaussian Process (GP) based Bayesian MRAC architecture (GP-MRAC), which leverages the power and flexibility of GP Bayesian nonparametric models of uncertainty. GP-MRAC does not require the centers to be preallocated, can inherently handle measurement noise, and enables MRAC to handle a broader set of uncertainties, including those that are defined as distributions over functions. We use stochastic stability arguments to show that GP-MRAC guarantees good closed loop performance with no prior domain knowledge of the uncertainty. Online implementable GP inference methods are compared in numerical simulations against RBFN-MRAC with preallocated centers and are shown to provide better tracking and improved long-term learning.This research was supported in part by ONR MURI Grant N000141110688 and NSF grant ECS #0846750

Locally adaptive smoothing with Markov random fields and shrinkage priors

We present a locally adaptive nonparametric curve fitting method that operates within a fully Bayesian framework. This method uses shrinkage priors to induce sparsity in order-k differences in the latent trend function, providing a combination of local adaptation and global control. Using a scale mixture of normals representation of shrinkage priors, we make explicit connections between our method and kth order Gaussian Markov random field smoothing. We call the resulting processes shrinkage prior Markov random fields (SPMRFs). We use Hamiltonian Monte Carlo to approximate the posterior distribution of model parameters because this method provides superior performance in the presence of the high dimensionality and strong parameter correlations exhibited by our models. We compare the performance of three prior formulations using simulated data and find the horseshoe prior provides the best compromise between bias and precision. We apply SPMRF models to two benchmark data examples frequently used to test nonparametric methods. We find that this method is flexible enough to accommodate a variety of data generating models and offers the adaptive properties and computational tractability to make it a useful addition to the Bayesian nonparametric toolbox.Comment: 38 pages, to appear in Bayesian Analysi

Stochastic expansions using continuous dictionaries: L\'{e}vy adaptive regression kernels

This article describes a new class of prior distributions for nonparametric function estimation. The unknown function is modeled as a limit of weighted sums of kernels or generator functions indexed by continuous parameters that control local and global features such as their translation, dilation, modulation and shape. L\'{e}vy random fields and their stochastic integrals are employed to induce prior distributions for the unknown functions or, equivalently, for the number of kernels and for the parameters governing their features. Scaling, shape, and other features of the generating functions are location-specific to allow quite different function properties in different parts of the space, as with wavelet bases and other methods employing overcomplete dictionaries. We provide conditions under which the stochastic expansions converge in specified Besov or Sobolev norms. Under a Gaussian error model, this may be viewed as a sparse regression problem, with regularization induced via the L\'{e}vy random field prior distribution. Posterior inference for the unknown functions is based on a reversible jump Markov chain Monte Carlo algorithm. We compare the L\'{e}vy Adaptive Regression Kernel (LARK) method to wavelet-based methods using some of the standard test functions, and illustrate its flexibility and adaptability in nonstationary applications.Comment: Published in at http://dx.doi.org/10.1214/11-AOS889 the Annals of Statistics (http://www.imstat.org/aos/) by the Institute of Mathematical Statistics (http://www.imstat.org

Adaptive Bayesian estimation using a Gaussian random field with inverse Gamma bandwidth

We consider nonparametric Bayesian estimation inference using a rescaled smooth Gaussian field as a prior for a multidimensional function. The rescaling is achieved using a Gamma variable and the procedure can be viewed as choosing an inverse Gamma bandwidth. The procedure is studied from a frequentist perspective in three statistical settings involving replicated observations (density estimation, regression and classification). We prove that the resulting posterior distribution shrinks to the distribution that generates the data at a speed which is minimax-optimal up to a logarithmic factor, whatever the regularity level of the data-generating distribution. Thus the hierachical Bayesian procedure, with a fixed prior, is shown to be fully adaptive.Comment: Published in at http://dx.doi.org/10.1214/08-AOS678 the Annals of Statistics (http://www.imstat.org/aos/) by the Institute of Mathematical Statistics (http://www.imstat.org

Posterior concentration rates for empirical Bayes procedures, with applications to Dirichlet Process mixtures

In this paper we provide general conditions to check on the model and the prior to derive posterior concentration rates for data-dependent priors (or empirical Bayes approaches). We aim at providing conditions that are close to the conditions provided in the seminal paper by Ghosal and van der Vaart (2007a). We then apply the general theorem to two different settings: the estimation of a density using Dirichlet process mixtures of Gaussian random variables with base measure depending on some empirical quantities and the estimation of the intensity of a counting process under the Aalen model. A simulation study for inhomogeneous Poisson processes also illustrates our results. In the former case we also derive some results on the estimation of the mixing density and on the deconvolution problem. In the latter, we provide a general theorem on posterior concentration rates for counting processes with Aalen multiplicative intensity with priors not depending on the data.Comment: With supplementary materia

Nonparametric statistical inference for drift vector fields of multi-dimensional diffusions

The problem of determining a periodic Lipschitz vector field $b=(b_1, \dots, b_d)$ from an observed trajectory of the solution $(X_t: 0 \le t \le T)$ of the multi-dimensional stochastic differential equation \begin{equation*} dX_t = b(X_t)dt + dW_t, \quad t \geq 0, \end{equation*} where $W_t$ is a standard $d$-dimensional Brownian motion, is considered. Convergence rates of a penalised least squares estimator, which equals the maximum a posteriori (MAP) estimate corresponding to a high-dimensional Gaussian product prior, are derived. These results are deduced from corresponding contraction rates for the associated posterior distributions. The rates obtained are optimal up to log-factors in $L^2$-loss in any dimension, and also for supremum norm loss when $d \le 4$. Further, when $d \le 3$, nonparametric Bernstein-von Mises theorems are proved for the posterior distributions of $b$. From this we deduce functional central limit theorems for the implied estimators of the invariant measure $\mu_b$. The limiting Gaussian process distributions have a covariance structure that is asymptotically optimal from an information-theoretic point of view.Comment: 55 pages, to appear in the Annals of Statistic

Functional Regression

Functional data analysis (FDA) involves the analysis of data whose ideal units of observation are functions defined on some continuous domain, and the observed data consist of a sample of functions taken from some population, sampled on a discrete grid. Ramsay and Silverman's 1997 textbook sparked the development of this field, which has accelerated in the past 10 years to become one of the fastest growing areas of statistics, fueled by the growing number of applications yielding this type of data. One unique characteristic of FDA is the need to combine information both across and within functions, which Ramsay and Silverman called replication and regularization, respectively. This article will focus on functional regression, the area of FDA that has received the most attention in applications and methodological development. First will be an introduction to basis functions, key building blocks for regularization in functional regression methods, followed by an overview of functional regression methods, split into three types: [1] functional predictor regression (scalar-on-function), [2] functional response regression (function-on-scalar) and [3] function-on-function regression. For each, the role of replication and regularization will be discussed and the methodological development described in a roughly chronological manner, at times deviating from the historical timeline to group together similar methods. The primary focus is on modeling and methodology, highlighting the modeling structures that have been developed and the various regularization approaches employed. At the end is a brief discussion describing potential areas of future development in this field