14,737 research outputs found
Square Root Extended Kernel Recursive Least Squares Algorithm for Nonlinear Channel Equalization
Abstract: This study presents a square root version of extended kernel recursive least square algorithm. Basically main idea is to overcome the divergence phenomena arise in the computation of weights of the extended kernel recursive least squares algorithm. Numerically stable givens orthogonal transformations are used to obtain the next iteration of the algorithm. The usefulness of the proposed algorithm is illustrated by discussing its application on the nonlinear multipath fading channel equalization based on Rayleigh distribution. Experiments are performed on slow fading Rayleigh channel with scattered signals
Spatio-temporal learning with the online finite and infinite echo-state Gaussian processes
Successful biological systems adapt to change. In this paper, we are principally concerned with adaptive systems that operate in environments where data arrives sequentially and is multivariate in nature, for example, sensory streams in robotic systems. We contribute two reservoir inspired methods: 1) the online echostate Gaussian process (OESGP) and 2) its infinite variant, the online infinite echostate Gaussian process (OIESGP) Both algorithms are iterative fixed-budget methods that learn from noisy time series. In particular, the OESGP combines the echo-state network with Bayesian online learning for Gaussian processes. Extending this to infinite reservoirs yields the OIESGP, which uses a novel recursive kernel with automatic relevance determination that enables spatial and temporal feature weighting. When fused with stochastic natural gradient descent, the kernel hyperparameters are iteratively adapted to better model the target system. Furthermore, insights into the underlying system can be gleamed from inspection of the resulting hyperparameters. Experiments on noisy benchmark problems (one-step prediction and system identification) demonstrate that our methods yield high accuracies relative to state-of-the-art methods, and standard kernels with sliding windows, particularly on problems with irrelevant dimensions. In addition, we describe two case studies in robotic learning-by-demonstration involving the Nao humanoid robot and the Assistive Robot Transport for Youngsters (ARTY) smart wheelchair
A fast semi-direct least squares algorithm for hierarchically block separable matrices
We present a fast algorithm for linear least squares problems governed by
hierarchically block separable (HBS) matrices. Such matrices are generally
dense but data-sparse and can describe many important operators including those
derived from asymptotically smooth radial kernels that are not too oscillatory.
The algorithm is based on a recursive skeletonization procedure that exposes
this sparsity and solves the dense least squares problem as a larger,
equality-constrained, sparse one. It relies on a sparse QR factorization
coupled with iterative weighted least squares methods. In essence, our scheme
consists of a direct component, comprised of matrix compression and
factorization, followed by an iterative component to enforce certain equality
constraints. At most two iterations are typically required for problems that
are not too ill-conditioned. For an HBS matrix with
having bounded off-diagonal block rank, the algorithm has optimal complexity. If the rank increases with the spatial dimension as is
common for operators that are singular at the origin, then this becomes
in 1D, in 2D, and
in 3D. We illustrate the performance of the method on
both over- and underdetermined systems in a variety of settings, with an
emphasis on radial basis function approximation and efficient updating and
downdating.Comment: 24 pages, 8 figures, 6 tables; to appear in SIAM J. Matrix Anal. App
A Stochastic Majorize-Minimize Subspace Algorithm for Online Penalized Least Squares Estimation
Stochastic approximation techniques play an important role in solving many
problems encountered in machine learning or adaptive signal processing. In
these contexts, the statistics of the data are often unknown a priori or their
direct computation is too intensive, and they have thus to be estimated online
from the observed signals. For batch optimization of an objective function
being the sum of a data fidelity term and a penalization (e.g. a sparsity
promoting function), Majorize-Minimize (MM) methods have recently attracted
much interest since they are fast, highly flexible, and effective in ensuring
convergence. The goal of this paper is to show how these methods can be
successfully extended to the case when the data fidelity term corresponds to a
least squares criterion and the cost function is replaced by a sequence of
stochastic approximations of it. In this context, we propose an online version
of an MM subspace algorithm and we study its convergence by using suitable
probabilistic tools. Simulation results illustrate the good practical
performance of the proposed algorithm associated with a memory gradient
subspace, when applied to both non-adaptive and adaptive filter identification
problems
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