Asymptotic analysis of the learning curve for Gaussian process regression

Gaussian Process Regression for Trajectory Analysis

Cognitive scientists have begun collecting the trajectories of hand movements as participants make decisions in experiments. These response trajectories offer a fine-grained glimpse into ongoing cognitive processes. For example, difficult decisions show more hesitation and deflection from the optimal path than easy decisions. However, many summary statistics used for trajectories throw away muc...

Model Learning with Local Gaussian Process Regression

Precise models of the robot inverse dynamics allow the design of significantly more accurate, energy-efficient and more compliant robot control. However, in some cases the accuracy of rigidbody models does not suffice for sound control performance due to unmodeled nonlinearities arising from hydraulic cable dynamics, complex friction or actuator dynamics. In such cases, estimating the inverse d...

Probabilistic Curve Learning: Coulomb Repulsion and the Electrostatic Gaussian Process

Learning of low dimensional structure in multidimensional data is a canonical problem in machine learning. One common approach is to suppose that the observed data are close to a lower-dimensional smooth manifold. There are a rich variety of manifold learning methods available, which allow mapping of data points to the manifold. However, there is a clear lack of probabilistic methods that allow...

Gaussian process models for robust regression, classification, and reinforcement learning

Local Gaussian Process Regression for Real Time Online Model Learning

Learning in real-time applications, e.g., online approximation of the inverse dynamics model for model-based robot control, requires fast online regression techniques. Inspired by local learning, we propose a method to speed up standard Gaussian process regression (GPR) with local GP models (LGP). The training data is partitioned in local regions, for each an individual GP model is trained. The...