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Singular prior and predictive covariances in Gaussian-process regression
Example
On take mean zero and constant kernel . Observe both indices with independent noise covariance , and test the repeated list . At observation vector , the selected posterior-kernel mean is and covariance is which is singular, although the observed covariance is positive definite.
Facts & Assumptions
Given: AC; the two-index constant-kernel process; and noise independent of the process.
AC is required by the finite Gaussian-process and multivariate-normal constructions. The Axiom of Choice
Any symmetric positive-semidefinite kernel on an arbitrary set defines a canonical cylinder-space Gaussian process under AC. A mean and positive-semidefinite kernel define a Gaussian process
Under AC, every finite symmetric positive-semidefinite covariance matrix defines a possibly singular Gaussian law. Multivariate normal law, including singular covariance
A finite product of sigma-finite measures exists and has the rectangle product formula. For sigma-finite factors, the product measure exists, has the rectangle formula, is sigma-finite, and is unique
Product-coordinate random elements are independent when their rectangle probabilities factor. Independent random elements Independent random elements are characterized by finite rectangle probabilities
Coordinates on the cylinder sigma-algebra are measurable, and a finite product sigma-algebra is generated by its coordinate sets. Coordinate maps, finite-coordinate cylinders, and the cylinder -algebra The product sigma-algebra and its finite iterates
With positive-definite observed covariance, the finite posterior law is Gaussian with the Schur-complement covariance, which may be singular. Finite Gaussian-process posterior and predictive laws
Verification
Given: The parameters, repeated test list, and observation vector in the Example.
For any finite coefficient list, the constant kernel's quadratic form is . Thus [F1] constructs the cylinder GP and [F2] supplies . Their product probability exists by [F3]; its process and noise random elements are measurable by [F5] and independent by [F4].
The observation covariance is , which has rank one, while has quadratic form for every nonzero . Hence it is positive definite and . For the repeated test list, . Since is positive definite, the hypotheses of [F6] hold.
Multiplication gives . Also , so and the conditional covariance is . Its determinant is zero and its rank is one. By [F6] this is a valid singular Gaussian conditional law.
The prior observation covariance and conditional predictive covariance are both singular, whereas the matrix inverted by the formula is the positive-definite observed covariance . This verifies why singular prior and predictive blocks are permitted under the stated condition.
Depends on
- The Axiom of Choice
- Coordinate maps, finite-coordinate cylinders, and the cylinder $\sigma$-algebra
- Independent random elements
- Multivariate normal law, including singular covariance
- The product sigma-algebra and its finite iterates
- Finite Gaussian-process posterior and predictive laws
- A mean and positive-semidefinite kernel define a Gaussian process
- Independent random elements are characterized by finite rectangle probabilities
- For sigma-finite factors, the product measure exists, has the rectangle formula, is sigma-finite, and is unique
Used by
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Sources
- A. W. van der Vaart and J. H. van Zanten, Reproducing kernel Hilbert spaces of Gaussian priors (2008) (standard reference, not scraped)
- Carl Edward Rasmussen and Christopher K. I. Williams, Gaussian Processes for Machine Learning (MIT Press, 2006), Chapter 2 (standard reference, not scraped)