19,110 research outputs found
Fast Forward Selection to Speed Up Sparse Gaussian Process Regression
We present a method for the sparse greedy approximation of Bayesian Gaussian process regression, featuring a novel heuristic for very fast forward selection. Our method is essentially as fast as an equivalent one which selects the "support" patterns at random, yet it can outperform random selection on hard curve fitting tasks. More importantly, it leads to a sufficiently stable approximation of the log marginal likelihood of the training data, which can be optimised to adjust a large number of hyperparameters automatically. We demonstrate the model selection capabilities of the algorithm in a range of experiments. In line with the development of our method, we present a simple view on sparse approximations for GP models and their underlying assumptions and show relations to other methods
Forecasting of commercial sales with large scale Gaussian Processes
This paper argues that there has not been enough discussion in the field of
applications of Gaussian Process for the fast moving consumer goods industry.
Yet, this technique can be important as it e.g., can provide automatic feature
relevance determination and the posterior mean can unlock insights on the data.
Significant challenges are the large size and high dimensionality of commercial
data at a point of sale. The study reviews approaches in the Gaussian Processes
modeling for large data sets, evaluates their performance on commercial sales
and shows value of this type of models as a decision-making tool for
management.Comment: 1o pages, 5 figure
Distributed Gaussian Processes
To scale Gaussian processes (GPs) to large data sets we introduce the robust
Bayesian Committee Machine (rBCM), a practical and scalable product-of-experts
model for large-scale distributed GP regression. Unlike state-of-the-art sparse
GP approximations, the rBCM is conceptually simple and does not rely on
inducing or variational parameters. The key idea is to recursively distribute
computations to independent computational units and, subsequently, recombine
them to form an overall result. Efficient closed-form inference allows for
straightforward parallelisation and distributed computations with a small
memory footprint. The rBCM is independent of the computational graph and can be
used on heterogeneous computing infrastructures, ranging from laptops to
clusters. With sufficient computing resources our distributed GP model can
handle arbitrarily large data sets.Comment: 10 pages, 5 figures. Appears in Proceedings of ICML 201
Local Regularization Assisted Orthogonal Least Squares Regression
A locally regularized orthogonal least squares (LROLS) algorithm is proposed for constructing parsimonious or sparse regression models that generalize well. By associating each orthogonal weight in the regression model with an individual regularization parameter, the ability for the orthogonal least squares (OLS) model selection to produce a very sparse model with good generalization performance is greatly enhanced. Furthermore, with the assistance of local regularization, when to terminate the model selection procedure becomes much clearer. This LROLS algorithm has computational advantages over the recently introduced relevance vector machine (RVM) method
Cautious NMPC with Gaussian Process Dynamics for Autonomous Miniature Race Cars
This paper presents an adaptive high performance control method for
autonomous miniature race cars. Racing dynamics are notoriously hard to model
from first principles, which is addressed by means of a cautious nonlinear
model predictive control (NMPC) approach that learns to improve its dynamics
model from data and safely increases racing performance. The approach makes use
of a Gaussian Process (GP) and takes residual model uncertainty into account
through a chance constrained formulation. We present a sparse GP approximation
with dynamically adjusting inducing inputs, enabling a real-time implementable
controller. The formulation is demonstrated in simulations, which show
significant improvement with respect to both lap time and constraint
satisfaction compared to an NMPC without model learning
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