7,738 research outputs found
Regularization and Bayesian Learning in Dynamical Systems: Past, Present and Future
Regularization and Bayesian methods for system identification have been
repopularized in the recent years, and proved to be competitive w.r.t.
classical parametric approaches. In this paper we shall make an attempt to
illustrate how the use of regularization in system identification has evolved
over the years, starting from the early contributions both in the Automatic
Control as well as Econometrics and Statistics literature. In particular we
shall discuss some fundamental issues such as compound estimation problems and
exchangeability which play and important role in regularization and Bayesian
approaches, as also illustrated in early publications in Statistics. The
historical and foundational issues will be given more emphasis (and space), at
the expense of the more recent developments which are only briefly discussed.
The main reason for such a choice is that, while the recent literature is
readily available, and surveys have already been published on the subject, in
the author's opinion a clear link with past work had not been completely
clarified.Comment: Plenary Presentation at the IFAC SYSID 2015. Submitted to Annual
Reviews in Contro
Spatio-temporal learning with the online finite and infinite echo-state Gaussian processes
Successful biological systems adapt to change. In this paper, we are principally concerned with adaptive systems that operate in environments where data arrives sequentially and is multivariate in nature, for example, sensory streams in robotic systems. We contribute two reservoir inspired methods: 1) the online echostate Gaussian process (OESGP) and 2) its infinite variant, the online infinite echostate Gaussian process (OIESGP) Both algorithms are iterative fixed-budget methods that learn from noisy time series. In particular, the OESGP combines the echo-state network with Bayesian online learning for Gaussian processes. Extending this to infinite reservoirs yields the OIESGP, which uses a novel recursive kernel with automatic relevance determination that enables spatial and temporal feature weighting. When fused with stochastic natural gradient descent, the kernel hyperparameters are iteratively adapted to better model the target system. Furthermore, insights into the underlying system can be gleamed from inspection of the resulting hyperparameters. Experiments on noisy benchmark problems (one-step prediction and system identification) demonstrate that our methods yield high accuracies relative to state-of-the-art methods, and standard kernels with sliding windows, particularly on problems with irrelevant dimensions. In addition, we describe two case studies in robotic learning-by-demonstration involving the Nao humanoid robot and the Assistive Robot Transport for Youngsters (ARTY) smart wheelchair
Data-driven nonparametric Li-ion battery ageing model aiming at learning from real operation data – Part A : storage operation
Conventional Li-ion battery ageing models, such as electrochemical, semi-empirical and empirical models, require a significant amount of time and experimental resources to provide accurate predictions under realistic operating conditions. At the same time, there is significant interest from industry in the introduction of new data collection telemetry technology. This implies the forthcoming availability of a significant amount of real-world battery operation data. In this context, the development of ageing models able to learn from in-field battery operation data is an interesting solution to mitigate the need for exhaustive laboratory testing
Analyzing sparse dictionaries for online learning with kernels
Many signal processing and machine learning methods share essentially the
same linear-in-the-parameter model, with as many parameters as available
samples as in kernel-based machines. Sparse approximation is essential in many
disciplines, with new challenges emerging in online learning with kernels. To
this end, several sparsity measures have been proposed in the literature to
quantify sparse dictionaries and constructing relevant ones, the most prolific
ones being the distance, the approximation, the coherence and the Babel
measures. In this paper, we analyze sparse dictionaries based on these
measures. By conducting an eigenvalue analysis, we show that these sparsity
measures share many properties, including the linear independence condition and
inducing a well-posed optimization problem. Furthermore, we prove that there
exists a quasi-isometry between the parameter (i.e., dual) space and the
dictionary's induced feature space.Comment: 10 page
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
Stochastic expansions using continuous dictionaries: L\'{e}vy adaptive regression kernels
This article describes a new class of prior distributions for nonparametric
function estimation. The unknown function is modeled as a limit of weighted
sums of kernels or generator functions indexed by continuous parameters that
control local and global features such as their translation, dilation,
modulation and shape. L\'{e}vy random fields and their stochastic integrals are
employed to induce prior distributions for the unknown functions or,
equivalently, for the number of kernels and for the parameters governing their
features. Scaling, shape, and other features of the generating functions are
location-specific to allow quite different function properties in different
parts of the space, as with wavelet bases and other methods employing
overcomplete dictionaries. We provide conditions under which the stochastic
expansions converge in specified Besov or Sobolev norms. Under a Gaussian error
model, this may be viewed as a sparse regression problem, with regularization
induced via the L\'{e}vy random field prior distribution. Posterior inference
for the unknown functions is based on a reversible jump Markov chain Monte
Carlo algorithm. We compare the L\'{e}vy Adaptive Regression Kernel (LARK)
method to wavelet-based methods using some of the standard test functions, and
illustrate its flexibility and adaptability in nonstationary applications.Comment: Published in at http://dx.doi.org/10.1214/11-AOS889 the Annals of
Statistics (http://www.imstat.org/aos/) by the Institute of Mathematical
Statistics (http://www.imstat.org
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