nips nips2013 nips2013-265 knowledge-graph by maker-knowledge-mining

265 nips-2013-Reconciling "priors" & "priors" without prejudice?


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Author: Remi Gribonval, Pierre Machart

Abstract: There are two major routes to address linear inverse problems. Whereas regularization-based approaches build estimators as solutions of penalized regression optimization problems, Bayesian estimators rely on the posterior distribution of the unknown, given some assumed family of priors. While these may seem radically different approaches, recent results have shown that, in the context of additive white Gaussian denoising, the Bayesian conditional mean estimator is always the solution of a penalized regression problem. The contribution of this paper is twofold. First, we extend the additive white Gaussian denoising results to general linear inverse problems with colored Gaussian noise. Second, we characterize conditions under which the penalty function associated to the conditional mean estimator can satisfy certain popular properties such as convexity, separability, and smoothness. This sheds light on some tradeoff between computational efficiency and estimation accuracy in sparse regularization, and draws some connections between Bayesian estimation and proximal optimization. 1

Reference: text


Summary: the most important sentenses genereted by tfidf model

sentIndex sentText sentNum sentScore

1 fr Abstract There are two major routes to address linear inverse problems. [sent-6, score-0.11]

2 Whereas regularization-based approaches build estimators as solutions of penalized regression optimization problems, Bayesian estimators rely on the posterior distribution of the unknown, given some assumed family of priors. [sent-7, score-0.285]

3 While these may seem radically different approaches, recent results have shown that, in the context of additive white Gaussian denoising, the Bayesian conditional mean estimator is always the solution of a penalized regression problem. [sent-8, score-0.392]

4 First, we extend the additive white Gaussian denoising results to general linear inverse problems with colored Gaussian noise. [sent-10, score-0.316]

5 Second, we characterize conditions under which the penalty function associated to the conditional mean estimator can satisfy certain popular properties such as convexity, separability, and smoothness. [sent-11, score-0.221]

6 This sheds light on some tradeoff between computational efficiency and estimation accuracy in sparse regularization, and draws some connections between Bayesian estimation and proximal optimization. [sent-12, score-0.067]

7 However, leveraging some prior knowledge or information, a profusion of schemes have been developed in order to provide an appropriate estimation of z. [sent-15, score-0.079]

8 1 Two families of approaches for linear inverse problems On the one hand, Bayesian approaches are based on the assumption that z and b are drawn from probability distributions PZ and PB respectively. [sent-18, score-0.11]

9 From that point, a straightforward way to estimate z is to build, for instance, the Minimum Mean Squared Estimator (MMSE), sometimes referred to as Bayesian Least Squares, conditional expectation or conditional mean estimator, and defined as: ψMMSE (y) := E(Z|Y = y). [sent-19, score-0.091]

10 (1) This estimator has the nice property of being optimal (in a least squares sense) but suffers from its explicit reliance on the prior distribution, which is usually unknown in practice. [sent-20, score-0.211]

11 On the other hand, regularization-based approaches have been at the centre of a tremendous amount of work from a wide community of researchers in machine learning, signal processing, and more ∗ The authors are with the PANAMA project-team at IRISA, Rennes, France. [sent-22, score-0.093]

12 These approaches focus on building estimators (also called decoders) with no explicit reference to the prior distribution. [sent-24, score-0.185]

13 Instead, these estimators are built as an optimal trade-off between a data fidelity term and a term promoting some regularity on the solution. [sent-25, score-0.149]

14 Among these, we will focus on a widely studied family of estimators ψ that write in this form: ψ(y) := argmin z∈RD 1 y − Az 2 2 + φ(z). [sent-26, score-0.232]

15 (2) For instance, the specific choice φ(z) = λ z 2 gives rise to a method often referred to as the ridge 2 regression [1] while φ(z) = λ z 1 gives rise to the famous Lasso [2]. [sent-27, score-0.166]

16 The 1 decoder associated to φ(z) = λ z 1 has attracted a particular attention, for the associated optimization problem is convex, and generalizations to other “mixed” norms are being intensively studied [3, 4]. [sent-28, score-0.074]

17 Regularization and Bayesian estimation seemingly yield radically different viewpoints on inverse problems. [sent-32, score-0.203]

18 The “regularization prior” is embodied by the penalty function φ(z) which promotes certain solutions, somehow carving an implicit signal model. [sent-34, score-0.145]

19 In the Bayesian framework, the “Bayesian prior” is embodied by where the mass of the signal distribution PZ lies. [sent-35, score-0.081]

20 The MAP quid pro quo A quid pro quo between these distinct notions of priors has crystallized around the notion of maximum a posteriori (MAP) estimation, leading to a long lasting incomprehension between two worlds. [sent-36, score-0.333]

21 In fact, a simple application of Bayes rule shows that under a Gaussian noise model b ∼ N (0, I) and Bayesian prior PZ (z ∈ E) = E pZ (z)dz, E ⊂ RN , MAP estimation1 yields the optimization problem (2) with regularization prior φZ (z) := − log pZ (z). [sent-37, score-0.283]

22 By a trivial identification, the optimization problem (2) with regularization prior φ(z) is now routinely called “MAP with prior exp(−φ(z))”. [sent-38, score-0.194]

23 As an unfortunate consequence of an erroneous “reverse reading” of this fact, this identification has given rise to the erroneous but common myth that the optimization approach is particularly well adapted when the unknown is distributed as exp(−φ(z)). [sent-40, score-0.188]

24 Laplacian and A ∈ Rn×D is drawn from the Gaussian ensemble, the 1 decoder – and indeed any sparse decoder – will be outperformed by the least squares decoder ψLS (y) := pinv(A)y, unless n 0. [sent-44, score-0.254]

25 Furthermore, to point out that erroneous conception, a deeper connection is dug, showing that in the more restricted context of (white) Gaussian denoising, for any prior, there exists a regularizer φ such that the MMSE estimator can be expressed as the solution of problem (2). [sent-47, score-0.286]

26 This result essentially exhibits a regularization-oriented formulation for which two radically different interpretations can be made. [sent-48, score-0.113]

27 It highlights the important following fact: the specific choice of a regularizer φ does not, alone, induce an implicit prior on the supposed distribution of the unknown; besides a prior PZ , a Bayesian estimator also involves the choice of a loss function. [sent-49, score-0.322]

28 For certain regularizers φ, there can in fact exist (at least two) different priors PZ for which the optimization problem (2) yields the optimal Bayesian estimator, associated to (at least) two different losses (e. [sent-50, score-0.187]

29 3 Main contributions A first major contribution of that paper is to extend the aforementioned result [8] to a more general linear inverse problem setting. [sent-55, score-0.11]

30 Our first main results can be introduced as follows: 1 which is the Bayesian optimal estimator in a 0/1 loss sense, for discrete signals. [sent-56, score-0.1]

31 Roughly, it states that for the considered inverse problem, for any prior on z, the MMSE estimate with Gaussian noise is also the solution of a regularization-based problem (the converse is not true). [sent-59, score-0.238]

32 , zn ) if, and only if, the evidence is multiplicatively separable: pY (y) = Πn pYi (yi ). [sent-63, score-0.115]

33 To do so, we review an existing result from the literature and explicit the different steps that make it possible to generalize it to the linear inverse problem setting. [sent-66, score-0.11]

34 In Section 3, we provide further results that shed some light on the connections between MMSE and regularization-oriented estimators. [sent-67, score-0.104]

35 Namely, we introduce some commonly desired properties on the regularizing function such as separability and convexity and show how they relate to the priors in the Bayesian framework. [sent-68, score-0.32]

36 1 An existing result for white Gaussian denoising As a starting point, let us recall the existing results in [8] (Lemma II. [sent-72, score-0.154]

37 2) dealing with the additive white Gaussian denoising problem, A = I, Σ = I. [sent-74, score-0.206]

38 ∀y ∈ Rn , ψI,I,PZ (y) is the unique global minimum and unique stationary point of z→ φ(z) = φI,I,PZ (z) := 1 y − Iz 2 −1 1 − 2 ψI,I,PZ (z) − z +∞, 2 + φ(z), with: 2 2 (4) −1 − log pY [ψMMSE (z)]; for z ∈ ImψI,I,PZ ; for x ∈ ImψI,I,PZ ; / 4. [sent-79, score-0.304]

39 Any penalty function φ(z) such that ψI,I,PZ (y) is a stationary point of (4) satisfies φ(z) = φI,I,PZ (z) + C for some constant C and all z. [sent-81, score-0.136]

40 This makes our denoising problem equivalent to yΣ = zΣ +bΣ , with yΣ := Σ−1/2 y, zΣ := Σ−1/2 z and bΣ := Σ−1/2 b, which is drawn from a Gaussian distribution with an identity covariance matrix. [sent-88, score-0.077]

41 For any non-degenerate prior PZ , any non-degenerate Σ, Y = Z + B, we have: 1. [sent-92, score-0.079]

42 ∀y ∈ Rn , ψI,Σ,PZ (y) is the unique global minimum and stationary point of z→ 1 y − Iz 2 2 Σ + φI,Σ,PZ (z). [sent-97, score-0.202]

43 As with white noise, up to an additive constant, φI,Σ,PZ is the only penalty with these properties. [sent-100, score-0.193]

44 For any function f : Rn → R and any M ∈ Rn×p , we have: M argmin f (M v) = v∈Rp argmin f (u). [sent-104, score-0.252]

45 Now, using Lemma 1 with M = Σ1/2 , we get: ψI,Σ,PZ (y) = Σ1/2 argmin z ∈Rn = argmin z∈Rn = argmin z∈Rn 1 −1/2 Σ y−z 2 2 + φI,I,PΣ−1/2 Z (z ) 1 −1/2 Σ y − Σ−1/2 z 2 + φI,I,PΣ−1/2 Z (Σ−1/2 z) 2 1 y − z 2 + φI,Σ,PZ (z) , Σ 2 with φI,Σ,PZ (z) := φI,I,PΣ−1/2 Z (Σ−1/2 z). [sent-107, score-0.378]

46 This definition also makes it clear that φI,Σ,PZ is C ∞ , and that this minimizer is unique (and is the only stationary point). [sent-108, score-0.233]

47 3 A simple under-determined problem As a step towards handling the more generic linear inverse problem y = Az + b, we will investigate the particular case where A = [I 0]. [sent-110, score-0.11]

48 First and foremost let us decompose the MMSE estimator into two parts, composed of the first n and last (D − n) components : ψ[I 0],Σ,PZ (y) := [ψ1 (y); ψ2 (y)] Corollary 2 (simple under-determined problem). [sent-112, score-0.1]

49 For any non-degenerate prior PZ , any nondegenerate Σ, we have: 1. [sent-113, score-0.079]

50 ∀y ∈ Rn , ψ[I 0],Σ,PZ (y) is the unique global minimum and stationary point of 1 y − [I 0]z 2 + φh 0],Σ,PZ (z) Σ [I 2 −1 0],Σ,PZ (z) := φI,Σ,PZ (z1 ) + h z2 , ψ2 ◦ ψ1 (z1 ) and z = [z1 ; z2 ]. [sent-119, score-0.202]

51 Given the properties of h, we have: −1 ψ2 (y) = argmin h z2 , ψ2 ◦ ψ1 ψ1 (y) . [sent-128, score-0.126]

52 z2 ∈R(D−n) It follows that: ψ[I 0],Σ,PZ (y) = argmin z=[z1 ;z2 ]∈RD 1 y − z1 2 2 Σ −1 + φI,Σ,PZ (z1 ) + h z2 , ψ2 ◦ ψ1 (z1 ) . [sent-129, score-0.126]

53 From the definitions of ψ[I 0],Σ,PZ and h, it is clear, using Corollary 1 that ψ[I 0],Σ,PZ is injective, is the unique minimizer and stationary point, and that φ[I 0],Σ,PZ is C ∞ if and only if h is. [sent-130, score-0.233]

54 For any non-degenerate prior PZ , any non-degenerate Σ and A, we have: 1. [sent-139, score-0.079]

55 ∀y ∈ Rn , ψ[I 0],Σ,PZ (y) is the unique global minimum and stationary point of h h z → 1 y − Az 2 + φh (V z). [sent-142, score-0.202]

56 First note that: V ψA,Σ,PZ (y) = V E(Z|Y = y) = E(Z |Y = y ) = ψ[I = argmin z 1 U y − [I 0]z 2 2 ˜ Σ + φh [I ˜ 0],Σ,PZ ˜ 0],Σ,PV (z ), Z using Corollary 2. [sent-146, score-0.126]

57 Now, using Lemma 1, we have: 1 2 h y − U [I 0]V U ˜ + φ[I 0],Σ,P ˜ Σ V 2 z 1 = argmin y − Az 2 + φh 0],Σ,P (V z) ˜ Σ [I V Z 2 z ψA,Σ,PZ (y) = argmin (V z) Z The other properties come naturally from those of Corollary 2. [sent-147, score-0.252]

58 If A is invertible (hence square), ψA,Σ,PZ is one-to-one. [sent-149, score-0.097]

59 It is also C ∞ , as well as its inverse and φA,Σ,PZ . [sent-150, score-0.11]

60 3 Connections between the MMSE and regularization-based estimators Equipped with the results from the previous sections, we can now have a clearer idea about how MMSE estimators, and those produced by a regularization-based approach relate to each other. [sent-151, score-0.143]

61 1 Obvious connections Some simple observations of the main theorem can already shed some light on those connections. [sent-154, score-0.104]

62 First, for any prior, and as long as A is invertible, we have shown that there exists a corresponding regularizing term (which is unique up to an additive constant). [sent-155, score-0.149]

63 This simply means that the set of MMSE estimators in linear inverse problems with Gaussian noise is a subset of the set of estimators that can be produced by a regularization approach with a quadratic data-fitting term. [sent-156, score-0.438]

64 Second, since the corresponding penalty is necessarily smooth, it is in fact only a strict subset of such regularization estimators. [sent-157, score-0.1]

65 For instance, as pinpointed by [8], all the non-C ∞ regularizers belong to that category. [sent-159, score-0.076]

66 Among them, all the sparsity-inducing regularizers (the 1 norm, among others) fall into this scope. [sent-160, score-0.076]

67 This means that when it comes to solving a linear inverse problem (with an invertible A) under Gaussian noise, sparsity inducing penalties are necessarily suboptimal (in a mean squared error sense). [sent-161, score-0.235]

68 2 Relating desired computational properties to the evidence Let us now focus on the MMSE estimators (which also can be written as regularization-based estimators). [sent-163, score-0.136]

69 An interesting question then is: can we relate these properties of the regularizer to the Bayesian priors, when interpreting the solution as an MMSE estimate? [sent-165, score-0.101]

70 For instance, when the regularizer is separable, one may easily rely on coordinate descent algorithms [9]. [sent-166, score-0.121]

71 A vector-valued function f : Rn → Rn is separable if there exists a set n of functions f1 , . [sent-168, score-0.149]

72 6 A scalar-valued function g : Rn → R is additively separable (resp. [sent-172, score-0.239]

73 multiplicatively separable) if n there exists a set of functions g1 , . [sent-173, score-0.085]

74 Even more evidently, when solving optimization problems, dealing with convex functions ensures that many algorithms will provably converge to the global minimizer [6]. [sent-179, score-0.194]

75 As a consequence, it would be interesting to be able to characterize the set of priors for which the MMSE estimate can be expressed as a minimizer of a convex function. [sent-180, score-0.345]

76 For any non-degenerate prior PZ , Theorem 1 says that 1 ∀y ∈ Rn , ψI,I,PZ (y) is the unique global minimum and stationary point of z → 2 y − Iz 2 + φI,I,PZ (z). [sent-184, score-0.281]

77 φI,I,PZ is convex if and only if pY (y) := pB PZ (y) is log-concave, 2. [sent-186, score-0.064]

78 φI,I,PZ is additively separable if and only if pY (y) is multiplicatively separable. [sent-187, score-0.324]

79 It also follows that: 2 φI,I,PZ convex ⇔ φI,I,PZ [ψI,I,PZ (y)] ⇔ −J −1 [ψI,I,PZ ](y) 2 0 log pY (y) 0 2 As J[ψI,I,PZ ](y) = In + 2 log pY (y), the matrices log pY (y), J[ψI,I,PZ ](y), and J −1 [ψI,I,PZ ](y) are simultaneously diagonalisable. [sent-195, score-0.184]

80 Now, as J[ψI,I,PZ ](y) is positive definite, we have: −J −1 [ψI,I,PZ ](y) 2 log pY (y) 0⇔ It follows that φI,I,PZ is convex if and only if pY (y) := pB 2 log pY (y) 0. [sent-197, score-0.144]

81 3) in [8], it is clear that: φI,I,PZ is additively separable ⇔ ψI,I,PZ is separable. [sent-200, score-0.239]

82 2) in [8], we have: ψI,I,PZ is separable ⇔ log pY is separable ⇔ log pY is additively separable ⇔ pY is multiplicatively separable. [sent-202, score-0.702]

83 This lemma focuses on the specific case where A = I and a white Gaussian noise. [sent-204, score-0.129]

84 However, considering the transformations induced by a shift to an arbitrary invertible matrix A and to an arbitrary non-degenerate covariance matrix Σ, which are depicted throughout Section 2, it is easy to see that the result on convexity carries over. [sent-205, score-0.152]

85 These results provide a precise characterization of conditions on the Bayesian priors so that the MMSE estimator can be expressed as minimizer of a convex or separable function. [sent-208, score-0.566]

86 Interestingly, those conditions are expressed in terms of the probability distribution function (pdf in short) of the observations pY , which is sometimes referred to as the evidence. [sent-209, score-0.076]

87 Given that we assume that the noise is Gaussian, its pdf pB always is log-concave. [sent-211, score-0.084]

88 Thanks to a simple property of the convolution of log-concave functions, it is sufficient that the prior on the signal pZ is log-concave to ensure that pY also is. [sent-212, score-0.143]

89 This means that there are some priors pX that are not log-concave such that the associated MMSE estimator can still be expressed as the minimizer of a functional with a convex regularizer. [sent-214, score-0.417]

90 For a more detailed analysis of this last point, in the specific context of Bernoulli-Gaussian priors (which are not log-concave), please refer to the technical report [13]. [sent-215, score-0.137]

91 If the distribution of the observation y is not log-concave, then, the MMSE estimate cannot be expressed as the solution of a convex regularization-oriented formulation. [sent-217, score-0.107]

92 This means that, with a quadratic data-fitting term, a convex approach to signal estimation cannot be optimal (in a mean squared error sense). [sent-218, score-0.133]

93 4 Prospects In this paper we have extended a result, stating that in the context of linear inverse problems with Gaussian noise, for any Bayesian prior, there exists a regularizer φ such that the MMSE estimator can be expressed as the solution of regularized regression problem (2). [sent-219, score-0.354]

94 For instance, our proof of the result naturally builds on elementary bricks that combine in a way that is imposed by the definition of the linear inverse problem. [sent-222, score-0.169]

95 Moreover, in the situation where A is not invertible (i. [sent-224, score-0.097]

96 the problem is under-determined), there is a large set of admissible regularizers (i. [sent-226, score-0.076]

97 But a careful study of the proofs in [8] suggests that there is a peculiar connection between the Gaussian noise model on the one hand and the quadratic loss on the other hand. [sent-234, score-0.08]

98 Finally, we have stated a number of negative results regarding the non-optimality of sparse decoders or of convex formulations for handling observations drawn from a distribution that is not log-concave. [sent-236, score-0.112]

99 It would be interesting to develop a metric in the estimators space in order to quantify, for instance, how “far” one arbitrary estimator is from an optimal one, or, in other words, what is the intrinsic cost of convex relaxations. [sent-237, score-0.27]

100 Should penalized least squares regression be interpreted as maximum a pose teriori estimation? [sent-265, score-0.105]


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