Book•
Gaussian Processes for Machine Learning
23 Nov 2005-
TL;DR: The treatment is comprehensive and self-contained, targeted at researchers and students in machine learning and applied statistics, and deals with the supervised learning problem for both regression and classification.
Abstract: A comprehensive and self-contained introduction to Gaussian processes, which provide a principled, practical, probabilistic approach to learning in kernel machines. Gaussian processes (GPs) provide a principled, practical, probabilistic approach to learning in kernel machines. GPs have received increased attention in the machine-learning community over the past decade, and this book provides a long-needed systematic and unified treatment of theoretical and practical aspects of GPs in machine learning. The treatment is comprehensive and self-contained, targeted at researchers and students in machine learning and applied statistics. The book deals with the supervised-learning problem for both regression and classification, and includes detailed algorithms. A wide variety of covariance (kernel) functions are presented and their properties discussed. Model selection is discussed both from a Bayesian and a classical perspective. Many connections to other well-known techniques from machine learning and statistics are discussed, including support-vector machines, neural networks, splines, regularization networks, relevance vector machines and others. Theoretical issues including learning curves and the PAC-Bayesian framework are treated, and several approximation methods for learning with large datasets are discussed. The book contains illustrative examples and exercises, and code and datasets are available on the Web. Appendixes provide mathematical background and a discussion of Gaussian Markov processes.
Citations
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16 Jun 2012
TL;DR: The autonomous driving platform is used to develop novel challenging benchmarks for the tasks of stereo, optical flow, visual odometry/SLAM and 3D object detection, revealing that methods ranking high on established datasets such as Middlebury perform below average when being moved outside the laboratory to the real world.
Abstract: Today, visual recognition systems are still rarely employed in robotics applications. Perhaps one of the main reasons for this is the lack of demanding benchmarks that mimic such scenarios. In this paper, we take advantage of our autonomous driving platform to develop novel challenging benchmarks for the tasks of stereo, optical flow, visual odometry/SLAM and 3D object detection. Our recording platform is equipped with four high resolution video cameras, a Velodyne laser scanner and a state-of-the-art localization system. Our benchmarks comprise 389 stereo and optical flow image pairs, stereo visual odometry sequences of 39.2 km length, and more than 200k 3D object annotations captured in cluttered scenarios (up to 15 cars and 30 pedestrians are visible per image). Results from state-of-the-art algorithms reveal that methods ranking high on established datasets such as Middlebury perform below average when being moved outside the laboratory to the real world. Our goal is to reduce this bias by providing challenging benchmarks with novel difficulties to the computer vision community. Our benchmarks are available online at: www.cvlibs.net/datasets/kitti
11,283 citations
Cites methods from "Gaussian Processes for Machine Lear..."
...For the regression task, Gaussian Process regression [36] performs best....
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Journal Article•
TL;DR: This paper shows empirically and theoretically that randomly chosen trials are more efficient for hyper-parameter optimization than trials on a grid, and shows that random search is a natural baseline against which to judge progress in the development of adaptive (sequential) hyper- parameter optimization algorithms.
Abstract: Grid search and manual search are the most widely used strategies for hyper-parameter optimization. This paper shows empirically and theoretically that randomly chosen trials are more efficient for hyper-parameter optimization than trials on a grid. Empirical evidence comes from a comparison with a large previous study that used grid search and manual search to configure neural networks and deep belief networks. Compared with neural networks configured by a pure grid search, we find that random search over the same domain is able to find models that are as good or better within a small fraction of the computation time. Granting random search the same computational budget, random search finds better models by effectively searching a larger, less promising configuration space. Compared with deep belief networks configured by a thoughtful combination of manual search and grid search, purely random search over the same 32-dimensional configuration space found statistically equal performance on four of seven data sets, and superior performance on one of seven. A Gaussian process analysis of the function from hyper-parameters to validation set performance reveals that for most data sets only a few of the hyper-parameters really matter, but that different hyper-parameters are important on different data sets. This phenomenon makes grid search a poor choice for configuring algorithms for new data sets. Our analysis casts some light on why recent "High Throughput" methods achieve surprising success--they appear to search through a large number of hyper-parameters because most hyper-parameters do not matter much. We anticipate that growing interest in large hierarchical models will place an increasing burden on techniques for hyper-parameter optimization; this work shows that random search is a natural baseline against which to judge progress in the development of adaptive (sequential) hyper-parameter optimization algorithms.
6,935 citations
Cites background or methods from "Gaussian Processes for Machine Lear..."
...Gaussian process regression gives us the statistical machinery to look atΨ and measure its effective dimensionality (Neal, 1998; Rasmussen and Williams, 2006)....
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...Our analysis of the hyper-parameter response surface (Ψ) suggests that random experiments are more efficient because not all hyperparameters are equally important to tune....
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Proceedings Article•
03 Dec 2012TL;DR: This work describes new algorithms that take into account the variable cost of learning algorithm experiments and that can leverage the presence of multiple cores for parallel experimentation and shows that these proposed algorithms improve on previous automatic procedures and can reach or surpass human expert-level optimization for many algorithms.
Abstract: The use of machine learning algorithms frequently involves careful tuning of learning parameters and model hyperparameters. Unfortunately, this tuning is often a "black art" requiring expert experience, rules of thumb, or sometimes brute-force search. There is therefore great appeal for automatic approaches that can optimize the performance of any given learning algorithm to the problem at hand. In this work, we consider this problem through the framework of Bayesian optimization, in which a learning algorithm's generalization performance is modeled as a sample from a Gaussian process (GP). We show that certain choices for the nature of the GP, such as the type of kernel and the treatment of its hyperparameters, can play a crucial role in obtaining a good optimizer that can achieve expertlevel performance. We describe new algorithms that take into account the variable cost (duration) of learning algorithm experiments and that can leverage the presence of multiple cores for parallel experimentation. We show that these proposed algorithms improve on previous automatic procedures and can reach or surpass human expert-level optimization for many algorithms including latent Dirichlet allocation, structured SVMs and convolutional neural networks.
5,654 citations
Cites background from "Gaussian Processes for Machine Lear..."
...This results in a procedure that can find the minimum of difficult non-convex functions with relatively few evaluations, at the cost of performing more computation to determine the next point to try....
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TL;DR: In this article, the authors introduce physics-informed neural networks, which are trained to solve supervised learning tasks while respecting any given laws of physics described by general nonlinear partial differential equations.
5,448 citations
TL;DR: In this paper, a Gaussian process classifier was used to estimate the probability of computerisation for 702 detailed occupations, and the expected impacts of future computerisation on US labour market outcomes, with the primary objective of analyzing the number of jobs at risk and the relationship between an occupations probability of computing, wages and educational attainment.
4,853 citations
Cites methods from "Gaussian Processes for Machine Lear..."
...Richer models are provided by Gaussian process classifiers (Rasmussen and Williams, 2006)....
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References
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Book•
01 Jan 1995TL;DR: Setting of the learning problem consistency of learning processes bounds on the rate of convergence ofLearning processes controlling the generalization ability of learning process constructing learning algorithms what is important in learning theory?
Abstract: Setting of the learning problem consistency of learning processes bounds on the rate of convergence of learning processes controlling the generalization ability of learning processes constructing learning algorithms what is important in learning theory?.
40,147 citations
"Gaussian Processes for Machine Lear..." refers methods in this paper
...The BCM approach is transductive [Vapnik, 1995] rather than inductive, in the sense that the method computes a test-set dependent model making use of the test set input locations....
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Book•
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TL;DR: In this article, the focus is on recognizing convex optimization problems and then finding the most appropriate technique for solving them, and a comprehensive introduction to the subject is given. But the focus of this book is not on the optimization problem itself, but on the problem of finding the appropriate technique to solve it.
Abstract: Convex optimization problems arise frequently in many different fields. A comprehensive introduction to the subject, this book shows in detail how such problems can be solved numerically with great efficiency. The focus is on recognizing convex optimization problems and then finding the most appropriate technique for solving them. The text contains many worked examples and homework exercises and will appeal to students, researchers and practitioners in fields such as engineering, computer science, mathematics, statistics, finance, and economics.
33,341 citations
01 Jan 1998
TL;DR: Presenting a method for determining the necessary and sufficient conditions for consistency of learning process, the author covers function estimates from small data pools, applying these estimations to real-life problems, and much more.
Abstract: A comprehensive look at learning and generalization theory. The statistical theory of learning and generalization concerns the problem of choosing desired functions on the basis of empirical data. Highly applicable to a variety of computer science and robotics fields, this book offers lucid coverage of the theory as a whole. Presenting a method for determining the necessary and sufficient conditions for consistency of learning process, the author covers function estimates from small data pools, applying these estimations to real-life problems, and much more.
26,531 citations
"Gaussian Processes for Machine Lear..." refers methods in this paper
...This method has been suggested by Wahba et al. [1995] (in the context of numerical weather prediction) and by Gibbs and MacKay [1997] (in the context of general GP regression)....
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Book•
01 Jan 1982
TL;DR: This book is a blend of erudition, popularization, and exposition, and the illustrations include many superb examples of computer graphics that are works of art in their own right.
Abstract: "...a blend of erudition (fascinating and sometimes obscure historical minutiae abound), popularization (mathematical rigor is relegated to appendices) and exposition (the reader need have little knowledge of the fields involved) ...and the illustrations include many superb examples of computer graphics that are works of art in their own right." Nature
24,199 citations