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arXiv 1306.2861stat.MLcs.LGcs.SYeess.SY
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贝叶斯推断与学习在高斯过程状态空间模型中的粒子MCMC应用

Bayesian Inference and Learning in Gaussian Process State-Space Models with Particle MCMC

University of Cambridge(剑桥大学);Uppsala University(乌普萨拉大学)

Roger Frigola, Fredrik Lindsten, Thomas B. Schön, Carl E. Rasmussen

AI总结:

本文提出一种全贝叶斯方法,用于非线性非参数状态空间模型中的推断与学习,通过高斯过程先验建模状态转移动态,并利用粒子MCMC进行高效推断。

摘要:

本文提出了一种全贝叶斯方法,用于非线性非参数状态空间模型中的推断与学习,通过高斯过程先验建模状态转移动态,并利用粒子MCMC进行高效推断。

英文摘要:

State-space models are successfully used in many areas of science, engineering and economics to model time series and dynamical systems. We present a fully Bayesian approach to inference \emph{and learning} (i.e. state estimation and system identification) in nonlinear nonparametric state-space models. We place a Gaussian process prior over the state transition dynamics, resulting in a flexible model able to capture complex dynamical phenomena. To enable efficient inference, we marginalize over the transition dynamics function and infer directly the joint smoothing distribution using specially tailored Particle Markov Chain Monte Carlo samplers. Once a sample from the smoothing distribution is computed, the state transition predictive distribution can be formulated analytically. Our approach preserves the full nonparametric expressivity of the model and can make use of sparse Gaussian processes to greatly reduce computational complexity.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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