Concept

L-curve — where it appears

The curve of a regularised solution's norm against its residual norm, on logarithmic axes, as the regularisation parameter sweeps. Its corner, the point of greatest curvature, is a rule for choosing the parameter, and the norm drawn on the vertical axis decides where that corner falls.

Named by 10 essays across 2 fields — each of them below, with the objects they name alongside it.

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
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
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
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
what each reachesbest pair0.0034‖x‖ alone0.0048‖L₁x‖ alone0.0035λ₁, on ‖x‖λ₂, on ‖L₁x‖ — log₁₀0-6-5-4-3-2-100-6-5-4-3-2-10outlined row and column: one penalty switched offred cell: the best pair, 0.00343darker is worse, on a logarithmic scalethe optimum sits on or beside an edge

A second penalty is not a second parameter

Penalise ‖x‖ and ‖L₁x‖ at once and there are two λ to choose. Over ten draws on five signals the best pair beats the better single penalty by between 0.00% and 3.1%, and one of its two parameters is exactly zero on 30 to 70 per cent of draws. Choosing the wrong one of the two costs up to 54%. The surface is a choice between two curves with a knob nobody needs.

regularisation · Parameter choice
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
1×1.1×1.5×2×3×stepoffsetsmoothoscillatingspikeswrong penalty ÷ right oneone penalty ÷ best pairbest pair ÷ best triplewrong penalty ÷ right oneone penalty ÷ best pairbest pair ÷ best triplewrong penalty ÷ right oneone penalty ÷ best pairbest pair ÷ best triplewrong penalty ÷ right oneone penalty ÷ best pairbest pair ÷ best triplewrong penalty ÷ right oneone penalty ÷ best pairbest pair ÷ best tripleeach tick one drawthe choice is worth a factor, the third penalty nothing

A third penalty on a flat floor

Two penalties at once were worth three per cent at most, and the explanation offered was that one penalty already does the work — which predicts that a third buys less still and that the best choice sits on a face of the parameter cube. The third buys a median of exactly nothing on all five signals and 0.66% on its best draw. But on twelve draws of forty the best triple does use all three, and on every one of them the nearest point with a penalty switched off is within that same 0.66%. The minimum is not on a face; it is on a floor so flat that where it lands is noise. Choosing the right single penalty is worth a factor of two.

regularisation · Parameter choice
125101001000error over the filter's best error, logarithmicdiscrepancy principlegeneralised cross-validationGCV, first minimum from the regularised endL-curve cornerTikhonov59 of 72 within a tenththe ramp40 of 72 within a tenthconjugate gradients47 of 72 within a tenthTikhonov57 of 72 within a tenththe ramp53 of 72 within a tenthconjugate gradients37 of 72 within a tenthTikhonov59 of 72 within a tenththe ramp64 of 72 within a tenthconjugate gradients63 of 72 within a tenthTikhonov8 of 72 within a tenththe ramp13 of 72 within a tenthconjugate gradients2 of 72 within a tenthdot: median · bar: to the worst drawsame best, very different rules

A corner chosen without the iteration

The ramp — conjugate gradients' first-step filter kept as a fixed method — matches the iteration's error at the same position, but every comparison placed it at the iterate's position, which needs the iteration. Placed instead by the iteration's own stopping rules, it was predicted to land within the same tenth of its best and earlier. The discrepancy principle does exactly that, earlier on 61 draws of 72 and dearer by a few hundredths on 71. The L-curve finds the ramp's corner as well as Tikhonov's and far better than the iteration's: twice the best on 26 draws against 44, worst 16 against 896. And GCV fails the ramp in a way it never fails the iteration — choosing a solution that discards three quarters of one direction, 696 times its best — until its first minimum from the regularised end is taken, after which the ramp is within a tenth of its best on 64 draws of 72 and never worse than 1.25.

combination · Iterative regularisation

Named alongside it

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

Parameter choiceTikhonov regularisationDiscrepancy principleGeneralised cross-validationRegularisationFilter factorsNoise floorOracleGeneral form regularisationConjugate gradientsDeconvolutionIll-posed problem

All concepts