63,065 research outputs found
Theoretical Analysis of Bayesian Optimisation with Unknown Gaussian Process Hyper-Parameters
Bayesian optimisation has gained great popularity as a tool for optimising
the parameters of machine learning algorithms and models. Somewhat ironically,
setting up the hyper-parameters of Bayesian optimisation methods is notoriously
hard. While reasonable practical solutions have been advanced, they can often
fail to find the best optima. Surprisingly, there is little theoretical
analysis of this crucial problem in the literature. To address this, we derive
a cumulative regret bound for Bayesian optimisation with Gaussian processes and
unknown kernel hyper-parameters in the stochastic setting. The bound, which
applies to the expected improvement acquisition function and sub-Gaussian
observation noise, provides us with guidelines on how to design hyper-parameter
estimation methods. A simple simulation demonstrates the importance of
following these guidelines.Comment: 16 pages, 1 figur
Portfolio Allocation for Bayesian Optimization
Bayesian optimization with Gaussian processes has become an increasingly
popular tool in the machine learning community. It is efficient and can be used
when very little is known about the objective function, making it popular in
expensive black-box optimization scenarios. It uses Bayesian methods to sample
the objective efficiently using an acquisition function which incorporates the
model's estimate of the objective and the uncertainty at any given point.
However, there are several different parameterized acquisition functions in the
literature, and it is often unclear which one to use. Instead of using a single
acquisition function, we adopt a portfolio of acquisition functions governed by
an online multi-armed bandit strategy. We propose several portfolio strategies,
the best of which we call GP-Hedge, and show that this method outperforms the
best individual acquisition function. We also provide a theoretical bound on
the algorithm's performance.Comment: This revision contains an updated the performance bound and other
minor text change
Information Acquisition with Sensing Robots: Algorithms and Error Bounds
Utilizing the capabilities of configurable sensing systems requires
addressing difficult information gathering problems. Near-optimal approaches
exist for sensing systems without internal states. However, when it comes to
optimizing the trajectories of mobile sensors the solutions are often greedy
and rarely provide performance guarantees. Notably, under linear Gaussian
assumptions, the problem becomes deterministic and can be solved off-line.
Approaches based on submodularity have been applied by ignoring the sensor
dynamics and greedily selecting informative locations in the environment. This
paper presents a non-greedy algorithm with suboptimality guarantees, which does
not rely on submodularity and takes the sensor dynamics into account. Our
method performs provably better than the widely used greedy one. Coupled with
linearization and model predictive control, it can be used to generate adaptive
policies for mobile sensors with non-linear sensing models. Applications in gas
concentration mapping and target tracking are presented.Comment: 9 pages (two-column); 2 figures; Manuscript submitted to the 2014
IEEE International Conference on Robotics and Automatio
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