Sequential Kernel Herding: Frank-Wolfe Optimization for Particle Filtering

Recently, the Frank-Wolfe optimization algorithm was suggested as a procedure to obtain adaptive quadrature rules for integrals of functions in a reproducing kernel Hilbert space (RKHS) with a potentially faster rate of convergence than Monte Carlo integration (and "kernel herding" was shown to be a special case of this procedure). In this paper, we propose to replace the random sampling step in a particle filter by Frank-Wolfe optimization. By optimizing the position of the particles, we can obtain better accuracy than random or quasi-Monte Carlo sampling. In applications where the evaluation of the emission probabilities is expensive (such as in robot localization), the additional computational cost to generate the particles through optimization can be justified. Experiments on standard synthetic examples as well as on a robot localization task indicate indeed an improvement of accuracy over random and quasi-Monte Carlo sampling.Comment: in 18th International Conference on Artificial Intelligence and Statistics (AISTATS), May 2015, San Diego, United States. 38, JMLR Workshop and Conference Proceeding

Herding as a Learning System with Edge-of-Chaos Dynamics

Herding defines a deterministic dynamical system at the edge of chaos. It generates a sequence of model states and parameters by alternating parameter perturbations with state maximizations, where the sequence of states can be interpreted as "samples" from an associated MRF model. Herding differs from maximum likelihood estimation in that the sequence of parameters does not converge to a fixed point and differs from an MCMC posterior sampling approach in that the sequence of states is generated deterministically. Herding may be interpreted as a"perturb and map" method where the parameter perturbations are generated using a deterministic nonlinear dynamical system rather than randomly from a Gumbel distribution. This chapter studies the distinct statistical characteristics of the herding algorithm and shows that the fast convergence rate of the controlled moments may be attributed to edge of chaos dynamics. The herding algorithm can also be generalized to models with latent variables and to a discriminative learning setting. The perceptron cycling theorem ensures that the fast moment matching property is preserved in the more general framework

Bayesian posterior approximation via greedy particle optimization

In Bayesian inference, the posterior distributions are difficult to obtain analytically for complex models such as neural networks. Variational inference usually uses a parametric distribution for approximation, from which we can easily draw samples. Recently discrete approximation by particles has attracted attention because of its high expression ability. An example is Stein variational gradient descent (SVGD), which iteratively optimizes particles. Although SVGD has been shown to be computationally efficient empirically, its theoretical properties have not been clarified yet and no finite sample bound of the convergence rate is known. Another example is the Stein points (SP) method, which minimizes kernelized Stein discrepancy directly. Although a finite sample bound is assured theoretically, SP is computationally inefficient empirically, especially in high-dimensional problems. In this paper, we propose a novel method named maximum mean discrepancy minimization by the Frank-Wolfe algorithm (MMD-FW), which minimizes MMD in a greedy way by the FW algorithm. Our method is computationally efficient empirically and we show that its finite sample convergence bound is in a linear order in finite dimensions

Sparse solutions of the kernel herding algorithm by improved gradient approximation

The kernel herding algorithm is used to construct quadrature rules in a reproducing kernel Hilbert space (RKHS). While the computational efficiency of the algorithm and stability of the output quadrature formulas are advantages of this method, the convergence speed of the integration error for a given number of nodes is slow compared to that of other quadrature methods. In this paper, we propose a modified kernel herding algorithm whose framework was introduced in a previous study and aim to obtain sparser solutions while preserving the advantages of standard kernel herding. In the proposed algorithm, the negative gradient is approximated by several vertex directions, and the current solution is updated by moving in the approximate descent direction in each iteration. We show that the convergence speed of the integration error is directly determined by the cosine of the angle between the negative gradient and approximate gradient. Based on this, we propose new gradient approximation algorithms and analyze them theoretically, including through convergence analysis. In numerical experiments, we confirm the effectiveness of the proposed algorithms in terms of sparsity of nodes and computational efficiency. Moreover, we provide a new theoretical analysis of the kernel quadrature rules with fully-corrective weights, which realizes faster convergence speeds than those of previous studies