Imposing Economic Constraints in Nonparametric Regression: Survey, Implementation and Extension

Economic conditions such as convexity, homogeneity, homotheticity, and monotonicity are all important assumptions or consequences of assumptions of economic functionals to be estimated. Recent research has seen a renewed interest in imposing constraints in nonparametric regression. We survey the available methods in the literature, discuss the challenges that present themselves when empirically implementing these methods and extend an existing method to handle general nonlinear constraints. A heuristic discussion on the empirical implementation for methods that use sequential quadratic programming is provided for the reader and simulated and empirical evidence on the distinction between constrained and unconstrained nonparametric regression surfaces is covered.identification, concavity, Hessian, constraint weighted bootstrapping, earnings function

A simple duality proof in convex quadratic programming with a quadratic constraint, and some applications

Cataloged from PDF version of article.In this paper a simple derivation of duality is presented for convex quadratic programs with a convex quadratic constraint. This problem arises in a number of applications including trust region subproblems of nonlinear programming, regularized solution of ill-posed least squares problems, and ridge regression problems in statistical analysis. In general, the dual problem is a concave maximization problem with a linear equality constraint. We apply the duality result to: (1) the trust region subproblem, (2) the smoothing of empirical functions, and (3) to piecewise quadratic trust region subproblems arising in nonlinear robust Huber M-estimation problems in statistics. The results are obtained from a straightforward application of Lagrange duality. Ó 2000 Elsevier Science B.V. All rights reserved

Chance-Constrained Trajectory Optimization for Safe Exploration and Learning of Nonlinear Systems

Learning-based control algorithms require data collection with abundant supervision for training. Safe exploration algorithms ensure the safety of this data collection process even when only partial knowledge is available. We present a new approach for optimal motion planning with safe exploration that integrates chance-constrained stochastic optimal control with dynamics learning and feedback control. We derive an iterative convex optimization algorithm that solves an \underline{Info}rmation-cost \underline{S}tochastic \underline{N}onlinear \underline{O}ptimal \underline{C}ontrol problem (Info-SNOC). The optimization objective encodes both optimal performance and exploration for learning, and the safety is incorporated as distributionally robust chance constraints. The dynamics are predicted from a robust regression model that is learned from data. The Info-SNOC algorithm is used to compute a sub-optimal pool of safe motion plans that aid in exploration for learning unknown residual dynamics under safety constraints. A stable feedback controller is used to execute the motion plan and collect data for model learning. We prove the safety of rollout from our exploration method and reduction in uncertainty over epochs, thereby guaranteeing the consistency of our learning method. We validate the effectiveness of Info-SNOC by designing and implementing a pool of safe trajectories for a planar robot. We demonstrate that our approach has higher success rate in ensuring safety when compared to a deterministic trajectory optimization approach.Comment: Submitted to RA-L 2020, review-

SOCP relaxation bounds for the optimal subset selection problem applied to robust linear regression

This paper deals with the problem of finding the globally optimal subset of h elements from a larger set of n elements in d space dimensions so as to minimize a quadratic criterion, with an special emphasis on applications to computing the Least Trimmed Squares Estimator (LTSE) for robust regression. The computation of the LTSE is a challenging subset selection problem involving a nonlinear program with continuous and binary variables, linked in a highly nonlinear fashion. The selection of a globally optimal subset using the branch and bound (BB) algorithm is limited to problems in very low dimension, tipically d<5, as the complexity of the problem increases exponentially with d. We introduce a bold pruning strategy in the BB algorithm that results in a significant reduction in computing time, at the price of a negligeable accuracy lost. The novelty of our algorithm is that the bounds at nodes of the BB tree come from pseudo-convexifications derived using a linearization technique with approximate bounds for the nonlinear terms. The approximate bounds are computed solving an auxiliary semidefinite optimization problem. We show through a computational study that our algorithm performs well in a wide set of the most difficult instances of the LTSE problem.Comment: 12 pages, 3 figures, 2 table

A Simple Iterative Algorithm for Parsimonious Binary Kernel Fisher Discrimination

By applying recent results in optimization theory variously known as optimization transfer or majorize/minimize algorithms, an algorithm for binary, kernel, Fisher discriminant analysis is introduced that makes use of a non-smooth penalty on the coefficients to provide a parsimonious solution. The problem is converted into a smooth optimization that can be solved iteratively with no greater overhead than iteratively re-weighted least-squares. The result is simple, easily programmed and is shown to perform, in terms of both accuracy and parsimony, as well as or better than a number of leading machine learning algorithms on two well-studied and substantial benchmarks