def update_L_C_single(x, L_C, n, omega, u):
D = omega.shape[0]
assert x.ndim == 1
assert len(x) == D
m = 1 if np.isscalar(u) else len(u)
N = 1
L_C *= np.sqrt(n)
# since cholupdate works on transposed version
L_C = L_C.T
projection = np.dot(x[np.newaxis, :], omega) + u
np.sin(projection, projection)
projection *= -np.sqrt(2. / m)
temp = np.zeros((N, m))
for d in range(D):
temp = -projection * omega[d, :]
# here temp is 1xm, this costs O(m^2)
cholupdate(L_C, temp[0])
# since cholupdate works on transposed version
L_C = L_C.T
# since the new C has a 1/(n+1) term in it
L_C /= np.sqrt(n + 1)
return L_C
def update_L_C_single(x, L_C, n, omega, u):
D = omega.shape[0]
assert x.ndim == 1
assert len(x) == D
m = 1 if np.isscalar(u) else len(u)
N = 1
L_C *= np.sqrt(n)
# since cholupdate works on transposed version
L_C = L_C.T
projection = np.dot(x[np.newaxis, :], omega) + u
np.sin(projection, projection)
projection *= -np.sqrt(2. / m)
temp = np.zeros((N, m))
for d in range(D):
temp = -projection * omega[d, :]
# here temp is 1xm, this costs O(m^2)
cholupdate(L_C, temp[0])
# since cholupdate works on transposed version
L_C = L_C.T
# since the new C has a 1/(n+1) term in it
L_C /= np.sqrt(n + 1)
return L_C
def update_mean_cov_L_lmbda(X, old_mean, old_cov_L, lmbdas):
assert len(X) == len(lmbdas)
# work on upper triangular cholesky internally
old_cov_R = old_cov_L.T
mean = old_mean
for x, lmbda in zip(X, lmbdas):
old_cov_R *= np.sqrt(1 - lmbda)
update_vec = np.sqrt(lmbda) * (x - mean)
cholupdate(old_cov_R, update_vec)
mean = (1 - lmbda) * mean + lmbda * x
# transform back to lower triangular version
cov_L = old_cov_R.T
return mean, cov_L
def update_mean_cov_L_lmbda(X, old_mean, old_cov_L, lmbdas):
assert len(X) == len(lmbdas)
# work on upper triangular cholesky internally
old_cov_R = old_cov_L.T
mean = old_mean
for x, lmbda in zip(X, lmbdas):
old_cov_R *= np.sqrt(1 - lmbda)
update_vec = np.sqrt(lmbda) * (x - mean)
cholupdate(old_cov_R, update_vec)
mean = (1 - lmbda) * mean + lmbda * x
# transform back to lower triangular version
cov_L = old_cov_R.T
return mean, cov_L
def update_b_L_C_weighted(X, b, L_C, log_sum_weights, log_weights, omega, u):
m = 1 if np.isscalar(u) else len(u)
N = X.shape[0]
D = X.shape[1]
# transform weights into (1-\lmbda)*old_mean+ \lmbda*new_term style updates
lmbdas = log_weights_to_lmbdas(log_sum_weights, log_weights)
# first and (negative) second derivatives of rff feature map
projection = np.dot(X, omega) + u
Phi = np.cos(projection) * np.sqrt(2. / m)
Phi2 = np.sin(projection) * np.sqrt(2. / m)
# not needed any longer
del projection
# work on upper triangular cholesky internally
L_R = L_C.T
b_new_term = np.zeros(m)
for i in range(N):
# downscale L_C once for every datum
L_R *= np.sqrt(1 - lmbdas[i])
b_new_term[:] = 0
for d in range(D):
b_new_term += Phi[i] * (omega[d, :]**2)
# L_C is updated D times for every datum, each with fixed lmbda
C_new_term = Phi2[i] * omega[d, :] * np.sqrt(lmbdas[i])
cholupdate(L_R, C_new_term)
# b is updated once per datum
b = (1 - lmbdas[i]) * b + lmbdas[i] * b_new_term
# transform back to lower triangular version
L_C = L_R.T
return b, L_C
def update_b_L_C_weighted(X, b, L_C, log_sum_weights, log_weights, omega, u):
m = 1 if np.isscalar(u) else len(u)
N = X.shape[0]
D = X.shape[1]
# transform weights into (1-\lmbda)*old_mean+ \lmbda*new_term style updates
lmbdas = log_weights_to_lmbdas(log_sum_weights, log_weights)
# first and (negative) second derivatives of rff feature map
projection = np.dot(X, omega) + u
Phi = np.cos(projection) * np.sqrt(2. / m)
Phi2 = np.sin(projection) * np.sqrt(2. / m)
# not needed any longer
del projection
# work on upper triangular cholesky internally
L_R = L_C.T
b_new_term = np.zeros(m)
for i in range(N):
# downscale L_C once for every datum
L_R *= np.sqrt(1 - lmbdas[i])
b_new_term[:] = 0
for d in range(D):
b_new_term += Phi[i] * (omega[d, :] ** 2)
# L_C is updated D times for every datum, each with fixed lmbda
C_new_term = Phi2[i] * omega[d, :] * np.sqrt(lmbdas[i])
cholupdate(L_R, C_new_term)
# b is updated once per datum
b = (1 - lmbdas[i]) * b + lmbdas[i] * b_new_term
# transform back to lower triangular version
L_C = L_R.T
return b, L_C
def rank_one_update_mean_covariance_cholesky_lmbda(u, lmbda=.1, mean=None, cov_L=None, nu2=1., gamma2=None):
"""
Returns updated mean and Cholesky of sum of outer products following a
(1-lmbda)*old + lmbda* step_size*uu^T+lmbda*gamm2*I
rule
Optional: If gamma2 is given, an isotropic term gamma2 * I is added to the uu^T part
where old mean and cov_L=Cholesky(old) (lower Cholesky) are given.
Performs efficient rank-one updates of the Cholesky directly.
"""
assert lmbda >= 0 and lmbda <= 1
assert u.ndim == 1
D = len(u)
# check if first term
if mean is None or cov_L is None :
# in that case, zero mean and scaled identity matrix
mean = np.zeros(D)
cov_L = np.eye(D) * nu2
else:
assert len(mean) == D
assert mean.ndim == 1
assert cov_L.ndim == 2
assert cov_L.shape[0] == D
assert cov_L.shape[1] == D
# update mean
updated_mean = (1 - lmbda) * mean + lmbda * u
# update Cholesky: first downscale existing Cholesky
update_cov_L = np.sqrt(1 - lmbda) * cov_L.T
# rank-one update of the centered new vector
update_vec = np.sqrt(lmbda) * np.sqrt(nu2) * (u - mean)
cholupdate(update_cov_L, update_vec)
# optional: add isotropic term if specified, requires looping rank-one updates over
# all basis vectors e_1, ..., e_D
if gamma2 is not None:
e_d = np.zeros(D)
for d in range(D):
e_d[:] = 0
e_d[d] = np.sqrt(gamma2)
# could do a Cholesky update, but this routine does a loop over dimensions
# where the vector only has one non-zero component
# That is O(D^2) and therefore not efficient when used in a loop
cholupdate(update_cov_L, np.sqrt(lmbda) * e_d)
# TODO:
# in contrast, can do a simplified update when knowing that e_d is sparse
# manual Cholesky update (only doing the d-th component of algorithm on
# https://en.wikipedia.org/wiki/Cholesky_decomposition#Rank-one_update
# # wiki (MB) code:
# r = sqrt(L(k,k)^2 + x(k)^2);
# c = r / L(k, k);
# s = x(k) / L(k, k);
# L(k, k) = r;
# L(k+1:n,k) = (L(k+1:n,k) + s*x(k+1:n)) / c;
# x(k+1:n) = c*x(k+1:n) - s*L(k+1:n,k);
# since cholupdate works on transposed version
update_cov_L = update_cov_L.T
# done updating Cholesky
return updated_mean, update_cov_L
