Bayesian Additive Regression Trees With Parametric Models of Heteroskedasticity

We incorporate heteroskedasticity into Bayesian Additive Regression Trees (BART) by modeling the log of the error variance parameter as a linear function of prespecified covariates. Under this scheme, the Gibbs sampling procedure for the original sum-of- trees model is easily modified, and the parameters for the variance model are updated via a Metropolis-Hastings step. We demonstrate the promise of our approach by providing more appropriate posterior predictive intervals than homoskedastic BART in heteroskedastic settings and demonstrating the model's resistance to overfitting. Our implementation will be offered in an upcoming release of the R package bartMachine.Comment: 20 pages, 5 figure

Incremental Sparse GP Regression for Continuous-time Trajectory Estimation & Mapping

Recent work on simultaneous trajectory estimation and mapping (STEAM) for mobile robots has found success by representing the trajectory as a Gaussian process. Gaussian processes can represent a continuous-time trajectory, elegantly handle asynchronous and sparse measurements, and allow the robot to query the trajectory to recover its estimated position at any time of interest. A major drawback of this approach is that STEAM is formulated as a batch estimation problem. In this paper we provide the critical extensions necessary to transform the existing batch algorithm into an extremely efficient incremental algorithm. In particular, we are able to vastly speed up the solution time through efficient variable reordering and incremental sparse updates, which we believe will greatly increase the practicality of Gaussian process methods for robot mapping and localization. Finally, we demonstrate the approach and its advantages on both synthetic and real datasets.Comment: 10 pages, 10 figure

A Comparison of Machine-Learning Methods to Select Socioeconomic Indicators in Cultural Landscapes

Cultural landscapes are regarded to be complex socioecological systems that originated as a result of the interaction between humanity and nature across time. Cultural landscapes present complex-system properties, including nonlinear dynamics among their components. There is a close relationship between socioeconomy and landscape in cultural landscapes, so that changes in the socioeconomic dynamic have an effect on the structure and functionality of the landscape. Several numerical analyses have been carried out to study this relationship, with linear regression models being widely used. However, cultural landscapes comprise a considerable amount of elements and processes, whose interactions might not be properly captured by a linear model. In recent years, machine-learning techniques have increasingly been applied to the field of ecology to solve regression tasks. These techniques provide sound methods and algorithms for dealing with complex systems under uncertainty. The term ‘machine learning’ includes a wide variety of methods to learn models from data. In this paper, we study the relationship between socioeconomy and cultural landscape (in Andalusia, Spain) at two different spatial scales aiming at comparing different regression models from a predictive-accuracy point of view, including model trees and neural or Bayesian networks