7,082 research outputs found
Outlier robust system identification: a Bayesian kernel-based approach
In this paper, we propose an outlier-robust regularized kernel-based method
for linear system identification. The unknown impulse response is modeled as a
zero-mean Gaussian process whose covariance (kernel) is given by the recently
proposed stable spline kernel, which encodes information on regularity and
exponential stability. To build robustness to outliers, we model the
measurement noise as realizations of independent Laplacian random variables.
The identification problem is cast in a Bayesian framework, and solved by a new
Markov Chain Monte Carlo (MCMC) scheme. In particular, exploiting the
representation of the Laplacian random variables as scale mixtures of
Gaussians, we design a Gibbs sampler which quickly converges to the target
distribution. Numerical simulations show a substantial improvement in the
accuracy of the estimates over state-of-the-art kernel-based methods.Comment: 5 figure
Gibbs Sampling with Low-Power Spiking Digital Neurons
Restricted Boltzmann Machines and Deep Belief Networks have been successfully
used in a wide variety of applications including image classification and
speech recognition. Inference and learning in these algorithms uses a Markov
Chain Monte Carlo procedure called Gibbs sampling. A sigmoidal function forms
the kernel of this sampler which can be realized from the firing statistics of
noisy integrate-and-fire neurons on a neuromorphic VLSI substrate. This paper
demonstrates such an implementation on an array of digital spiking neurons with
stochastic leak and threshold properties for inference tasks and presents some
key performance metrics for such a hardware-based sampler in both the
generative and discriminative contexts.Comment: Accepted at ISCAS 201
A new kernel-based approach to system identification with quantized output data
In this paper we introduce a novel method for linear system identification
with quantized output data. We model the impulse response as a zero-mean
Gaussian process whose covariance (kernel) is given by the recently proposed
stable spline kernel, which encodes information on regularity and exponential
stability. This serves as a starting point to cast our system identification
problem into a Bayesian framework. We employ Markov Chain Monte Carlo methods
to provide an estimate of the system. In particular, we design two methods
based on the so-called Gibbs sampler that allow also to estimate the kernel
hyperparameters by marginal likelihood maximization via the
expectation-maximization method. Numerical simulations show the effectiveness
of the proposed scheme, as compared to the state-of-the-art kernel-based
methods when these are employed in system identification with quantized data.Comment: 10 pages, 4 figure
Bayesian kernel-based system identification with quantized output data
In this paper we introduce a novel method for linear system identification
with quantized output data. We model the impulse response as a zero-mean
Gaussian process whose covariance (kernel) is given by the recently proposed
stable spline kernel, which encodes information on regularity and exponential
stability. This serves as a starting point to cast our system identification
problem into a Bayesian framework. We employ Markov Chain Monte Carlo (MCMC)
methods to provide an estimate of the system. In particular, we show how to
design a Gibbs sampler which quickly converges to the target distribution.
Numerical simulations show a substantial improvement in the accuracy of the
estimates over state-of-the-art kernel-based methods when employed in
identification of systems with quantized data.Comment: Submitted to IFAC SysId 201
Approximate Inference in Continuous Determinantal Point Processes
Determinantal point processes (DPPs) are random point processes well-suited
for modeling repulsion. In machine learning, the focus of DPP-based models has
been on diverse subset selection from a discrete and finite base set. This
discrete setting admits an efficient sampling algorithm based on the
eigendecomposition of the defining kernel matrix. Recently, there has been
growing interest in using DPPs defined on continuous spaces. While the
discrete-DPP sampler extends formally to the continuous case, computationally,
the steps required are not tractable in general. In this paper, we present two
efficient DPP sampling schemes that apply to a wide range of kernel functions:
one based on low rank approximations via Nystrom and random Fourier feature
techniques and another based on Gibbs sampling. We demonstrate the utility of
continuous DPPs in repulsive mixture modeling and synthesizing human poses
spanning activity spaces
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