Concept

Discrepancy principle — where it appears

A rule that stops regularising when the residual has fallen to the size of the noise, and therefore has to be told what the noise is. Where the noise level is known it is the sharpest rule available; where it is estimated, the estimate becomes the parameter and the problem has moved rather than gone.

Named by 18 essays across 3 fields — each of them below, with the objects they name alongside it.

015304560759010512010⁻²10⁻¹110¹steprelative sizeleast error: 20discrepancy stop: 7errorresidualthe knob is an integerleast error, at step20error there0.14error at step 1206the residual falls at every stepthe error turns and keeps rising

A parameter that counts steps

The regularisation field's knob is a positive real number chosen by one of three rules. The iterative field's is an integer nobody called a knob — where to stop. On the same problem the best step is 20 and the best λ is 0.025, and they reach 0.1426 and 0.1406.

combination · Iterative regularisation
10⁻²10⁻¹110¹10²10³10⁴‖Ax − b‖‖x‖the oraclediscrepancyL-curvegeneralisedscored against a truth none hasoracle, relative error0.11discrepancy principle, as a multiple1.1L-curve corner, as a multiple2.3generalised cross-validation, as a multiple1the oracle needs the exact answer and is not a methodit is the reference the others are scored on

Choosing without knowing

Three published rules for choosing a regularisation parameter, scored against an oracle that requires the exact answer and is therefore not a method. Generalised cross-validation lands on the oracle's λ exactly; the discrepancy principle costs 6%; the L-curve costs 129%. And told a noise level ten times too small, the discrepancy principle's error goes from 0.112 to 10,449.

regularisation · Parameter choice
27121722273237424710⁻²10⁻¹110¹subspace size kvalueno answer below 8GCV's traceλ from GCVλ from the residuala denominator that is not the problem'strace at k = 41trace at k = 4827λ range across the run2.2subspace before an answer8the divisor moves by twenty-sevenand the answer does not move

A parameter chosen on a smaller problem

Inside a hybrid method the regularisation parameter is chosen on a 25×24 problem rather than a 64×64 one. The rule that reads a residual transfers exactly; the rule that reads a trace is biased by exactly two grid steps at twenty-four steps and one at forty, at every noise level from 10% to 0.1%.

combination · Parameter choice
081624324048566410⁻¹⁷10⁻¹⁴10⁻¹¹10⁻⁸10⁻⁵10⁻²10¹index kmagnitudethe floor: k = 43best truncation: k = 31σₖ|uₖᵀb| exact|uₖᵀb| with noise|uₖᵀe|, smoothedcorrelation ρ = 0.9noise energy, first 28 directions0.98tilt of the noise floor, decades1.1the crossing43the best truncation31the floor tilts, and is still a floorρ = 0.9

Noise that spares the answer and fools the rules

Make each noise sample remember the last one, keep its size fixed, and the best answer available gets slightly better — 0.1056 to 0.1010 — because slow noise hides in the directions where dividing by σ costs nothing. The Picard crossing still lands two dozen indices past the best truncation. What breaks is the rules. Generalised cross-validation more than doubles the best error on 14 draws of 48 instead of 3, the discrepancy principle's typical cost triples, and the two miss in opposite directions. Whitening by the covariance takes GCV back to 3.

regularisation · Regularisation
26101418222630343810⁻¹⁷10⁻¹⁴10⁻¹¹10⁻⁸10⁻⁵10⁻²10¹stepsizeleast error: 20‖QᵀQ − I‖filter disagreementan identity with an expiry datedisagreement at step 1210⁻¹³disagreement at step 400.014least error at step20exact while the basis is orthogonaland false where the method is best

An expiry date the noise does not move

The polynomial description of conjugate gradients leaves the level of rounding at step 17 or 18 on this operator, at every noise level from 10% to 0.1%. The step worth stopping at moves from 3 to 44 across the same range. They coincide at about 1% noise, which is where the coincidence was first read, and it is a fact about the noise rather than about the method.

combination · Iterative regularisation
110¹10²10³10⁴10⁵10⁶error ÷ the oracle's, on the same drawten times the oracleover tendiscrepancy principletold ‖e‖0 of 1000unbiased risktold σ²15 of 1000cross-validationtold nothing57 of 1000quasi-optimalitytold nothing0 of 1000L-curvetold nothing0 of 1000blue: median · bar to the 90th percentile · line to the 99th · red: worstthe counts are the tail

One draw in twenty

Sixteen draws gave generalised cross-validation a worst case of 12%. A thousand draws at each of five noise levels give it a second answer on four to six in every hundred, ten to seven million times worse than the oracle, while its median stays among the best of five rules. The quasi-optimality criterion, told nothing either, never costs more than 1.41 in five thousand draws. The share settles by a thousand draws, and letting the search look further down more than triples it.

regularisation · Parameter choice
10⁻⁸10⁻⁷10⁻⁶10⁻⁵10⁻⁴10⁻³10⁻²10⁻¹110⁻⁴10⁻³10⁻²10⁻¹110¹10²10³10⁴λnoise part ÷ signal part, in ‖x‖where every corner sitsthe corner, ×2.29the oraclethe corner reads ‖x‖noise share at the corner0.23noise share at the oracle0.026corner ÷ oracle, this draw2.3corner ÷ oracle, 60-draw median1.5noise share: ‖L·(noise part)‖ ÷ ‖L·(signal part)‖the corner reads that share

The corner reads the norm it is drawn in

The L-curve was the costliest rule this field scored, and the cost was not the rule's. On the same sixty draws, with the same best achievable error, the corner of ‖x‖ against the residual costs 1.53 times the oracle and the corner of ‖L₁x‖ costs 1.003. Across five signals and three penalties the corner lands wherever amplified noise is between a tenth and a fifth of the norm being plotted, and it finds the oracle only when the oracle happens to sit there — twenty-nine times too costly on a smooth signal under ‖x‖, within half a per cent on four spikes.

regularisation · Parameter choice
conjugate gradientsbest step20best error0.1410% window, last/first6.5Landweberbest step1778best error0.1410% window, last/first901110¹10²10³10⁴10⁵10⁶10⁷10⁻¹110¹10²matrix–vector productsrelative errorCGLS best: step 20Landweber best: step 1,778CGLSLandweberthe same answer at two pricesand a window three orders wide

A step that is not a unit of work

Landweber's iteration reaches conjugate gradients' best answer on the same deconvolution — 0.1414 against 0.1426 — at step 1,778 instead of step 20, and at 0.1% noise at step 56,234 instead of 44. Each step costs the same two products. And within 10% of its best it runs from step 7 to step 6,310, where conjugate gradients runs from 4 to 26: the slow method is the one that forgives a late stop.

combination · Iterative regularisation
1110¹10²10³10⁴10⁵the noise level it is told ÷ the true oneerror ÷ the oracle's0.40.50.71.523twice the oraclecliff, ρ = 0.69told the truthworst of 400middle 80%median draweach draw against its own oraclecliff, median ρ0.69told the truth, median1.1told a half, median3201shaded: the middle 80% of drawsbelow the cliff the error has doubled

Thirty-two coefficients instead of a noise level

The discrepancy principle has to be told the noise, and told too little it does not degrade — it falls off a cliff, at 0.80 of the truth when the noise is 10% and at 0.58 when it is 0.001%, exactly where the understatement forces the filter past its best truncation. The missing number is in the data. The root mean square of the last thirty-two coefficients never sends the rule over the cliff at or below 1% noise in four hundred draws, where eight coefficients with the same median do so thirty-five times.

regularisation · Parameter choice
unpreconditionedbest step20rule stops at7its error ÷ best1steps within 10%23truncated at τ = 0.032best step8rule stops at4its error ÷ best1steps within 10%6010203040506010⁻¹110¹steprelative errorrule stops: 7rule stops: 4plain CGLSpreconditionedbars: the steps within 10% of each run's bestthe rule reads the residual, not the window

A stopping rule that follows the run it is given

A preconditioner that reaches the answer four times sooner leaves four steps within 10% of its best instead of sixteen, and a rule that stops by the residual ought to miss so narrow a window more often. Over forty draws of the noise it misses it less: the discrepancy principle stops at 1.030 times the preconditioned run's best against 1.073 times the plain run's. And past the edge it stops within a factor of 1.7 of a run whose own best is 5.5 times Tikhonov's — faithful to a run that has already failed.

combination · Iterative regularisation
unpreconditionedbest step20best error0.14edge τ0.01cutoffs at τ = 0.5λdiscrepancy0.032GCV0.016L-curve0.00410⁻⁴10⁻³10⁻²10⁻¹10⁻¹110¹truncation τbest relative errorunpreconditioned floor: 0.1426discrepancy: 0.144GCV: 0.142L-curve: 0.234the cutoff read as 0.5 × each rule's own λthe plateau is wide and the cliff is steep

The rule that is wrong in the right direction

The preconditioner's cutoff is not a new parameter. It is the regularisation parameter this field already knows how to choose, halved — and the rule criticised for choosing λ a factor of two or three too large is the one whose cutoff keeps the floor on every draw, where the rule that chooses λ to within 3% has a worst draw two hundred times off it.

combination · Iterative regularisation
where each λ sitsoracle's share0.0037corner's share0.1corner's cost25and what a target costsbest fixed target0.0035its cost1estimate ÷ truth at the oracle0.9210⁻⁸10⁻⁶10⁻⁴10⁻²110⁻³10⁻²10⁻¹110¹10²10³10⁴λnoise part ÷ signal parttarget 0.0035oracle λ: share 0.0037corner: share 0.102solid: the share on this draw · dashed: the share a rule can estimatethe rule is a level set of the dashed curve

A rule that has to be told how good its answer will be

The L-curve's corner reads a noise share of 0.10 to 0.21 across fifteen pairings of signal and penalty, and the share the best λ sits at runs from 0.0037 to 0.43 — a factor of a hundred and fifteen. A rule aimed at the right share is within a few per cent of the oracle on every one of them. The right share is about a third to four-fifths of the relative error that λ will achieve, which is the number the answer was wanted for.

regularisation · Parameter choice
where each run leaves the arcnarrow blur, directions33the collection's blur, directions22wide blur, directions15the answer's own dimensionnarrow blur32the collection's blur23wide blur1501020300123456directions the preconditioner divideseffective dimension a stepnarrow blurthe collection's blurwide blurrings: the first cutoff past which most of the run misses the arcthey sit at three different strides

A count that marks the edge and not the pace

The number of directions a truncated preconditioner divides is counted for free when it is built, and it was proposed as a stand-in for the stride it buys. On three blurs it is not one — the runs leave the answer at strides of 5.71, 3.44 and 2.41. What the count does predict is the edge: on all three blurs, at two noise levels, a run stops landing on the answer's path within five per cent of the point where the count reaches the answer's own effective dimension. And the halved cutoff rule, measured on one blur, crosses that line on the narrowest.

combination · Iterative regularisation
on 96 pointsno breakpoint0.12two jumps0.05doubled knots0.13one box0.013the box on fewer points16 points0.0526 points0.02248 points0.00710203040506070809010010⁻²10⁻¹.⁵10⁻¹grid pointsrelative error, best λno breakpointtwo jumpsdoubled knotsone boxevery reading spends the same n unknownsand is given its own best λ on each grid

A corner the penalty can afford

Every smooth reading of the deconvolution's grid needed about forty points and then stopped improving, and the step was the suspect. Give the step one coefficient of its own and forty-eight points reach an error of 0.0070 at 0.1% noise, against 0.118 for the best smooth reading on ninety-six — the step was most of the error. But the same step given two coefficients recovers half as well, and given a doubled node at each edge it recovers worse than no breakpoint at all, while representing the signal to 0.07%. What decides is what the penalty is charged for the corner, and whether the data can say where it is.

regularisation · Regularisation
worst draw on any grid, % over the oraclediscrepancy13GCV4·10⁶L-curve291median on 96 points, % overdiscrepancy3.4GCV0.18L-curve282030405060708090100110¹grid pointserror ÷ the oracle's, same drawdiscrepancy, mediandiscrepancy, worstGCV, medianGCV, worstL-curve, mediansolid: the median draw; dashed: the worst of sixteenthe axis stops at twenty times the oracle

The data count their dimensions, not the step's

Every grid in the deconvolution essays was chosen with the answer in hand, and so was every λ. From the data alone, the discrepancy principle's worst draw is within 16 per cent of the oracle on every grid from 16 points to 96; generalised cross-validation is better on the median draw and, on grids of thirty points and more, has draws thousands of times worse. And the data can say how many dimensions they carry — about 20, 25 and 29 at three noise levels, one number once the grid exceeds it — but not how many more the step needs: the grid that count chooses is 14 to 19 per cent worse than forty points at the lower two.

regularisation · Regularisation
worst draw on any grid, ÷ the oracleGCV4·10⁴rightmost minimum1.6discrepancy1.1draws more than twice the oracleGCV10rightmost minimum02030405060708090100110¹10²10³10⁴grid pointsworst error ÷ the oracle'sGCV, worst drawrightmost minimumdiscrepancythe worst of sixteen draws on each gridthe axis stops at ten thousand times the oracle

The minimum on the right

Generalised cross-validation's worst draws on a fine grid were all one mistake: a second dip in its function at λ near zero, deeper than the real minimum. The proposed repair was a residual threshold, one number, refusing any λ whose residual falls too far below the real minimum's. Measured over 528 draws, a threshold of one half still lets two hundredfold misses through; only the extreme value, which is no threshold at all but the rule 'take the rightmost local minimum', removes all eleven. It costs nothing on the coarse grids where the dip is the right answer, and on the collection's own problem over five thousand draws it turns 243 tenfold misses into 17.

regularisation · Regularisation
square systemfloor minima21interior dips28four samples per unknownfloor minima0interior dips4051015202530samples per unknowndraws of 24011.251.524minimum at the floorinterior dipGCV over 10× the oracleover 100×horizontal axis doubles at each gridlinethe floor goes at once and the dip does not

More samples take the floor and leave the dip

GCV's catastrophic misses on fine grids were blamed on squareness: on an n × n system the residual and n − t both reach zero as λ does, and their ratio can dip there. With more samples than unknowns neither reaches zero, and the prediction was that the dip would be gone by construction. Half of it is. The minimum at the floor of the scale, 21 draws in 240 on square systems, is gone at every ratio. The interior dip is not — 28, 20, 13, 8 and 4 draws at one to four samples per unknown — and at four per unknown one draw still misses the oracle by 877 times.

regularisation · Regularisation
how lopsided the valley isσ = 0.1: 6 too few ÷ 40 too many17σ = 10⁻³: 6 too few ÷ 40 too many231σ = 10⁻⁶: 6 too few ÷ 40 too many8184-50510152025303540110¹10²10³10⁴degree minus the best degreeerror ÷ best degree's errorσ = 0.1σ = 10⁻³σ = 10⁻⁶left of the line: too few degrees; right: too manya missing degree costs orders, an extra one a few per cent

The degree that is safe to overshoot

The rules that choose a Tikhonov parameter miss by factors of millions on one draw in twenty. Transplanted to the degree of a polynomial fit, in a basis orthonormal on the data, the same rules never cost more than 2.7 times the best degree's error in three hundred draws. The reason is the shape of the valley they search: six degrees too few costs from 44 to 16,000 times the best error, forty degrees too many costs about twice it. The one rule with a tail, the discrepancy principle, has its threshold half a standard deviation above the residual it is waiting for.

leastsquares · Fitting

Named alongside it

The objects these essays reach for when they reach for this one.

Tikhonov regularisationParameter choiceGeneralised cross-validationRegularisationFilter factorsL-curveConjugate gradientsIterative regularisationIll-posed problemNoise floorOracleSemi-convergence

All concepts