Concept

Parameter choice — where it appears

The problem of picking a regularisation parameter from the data alone, which no rule solves exactly because the best value needs the answer. Every rule for it computes a quantity from the residual and the fit and picks an extremum, and which extremum is right depends on the answer nobody has.

Named by 21 essays across 4 fields — each of them below, with the objects they name alongside it.

00.250.50.75110⁻¹110¹10²10³fraction of the method's own rangerelative errorfloor 0.141truncation KTikhonov λCGLS steprandomised rankfour methods, one floortruncation K0.14Tikhonov λ0.14CGLS step0.14randomised rank0.14four knobs from four fieldsand one obstruction underneath them

Four knobs and one floor

A truncation, a Tikhonov parameter, a step count and a randomised rank, on one problem with an answer that is known. Their best errors are 0.1445, 0.1406, 0.1426 and 0.1449 — a spread of 3% across four methods that share no arithmetic.

combination · Parameter choice
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
01428425670849810⁻¹⁶10⁻¹⁴10⁻¹²10⁻¹⁰10⁻⁸10⁻⁶10⁻⁴10⁻²iterationchange between iteratestwo rates, one curveα0.85λ₂(P)0.9predicted rate0.77measured0.77iterations108against the solve10⁻¹⁶the upper dashed line is αᵏthe curve is on the other one

A ranking that is an eigenvector

PageRank is the stationary vector of a walk that follows links with probability α and jumps at random otherwise. The iteration and the elimination agree to 4·10⁻¹⁷. What α is set to changes which pages come third, fourth and fifth.

graph · Random walk
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
-9-7-5-3-1110⁵10⁶10⁷log₁₀ ε of the preconditionermultiplications for the whole solveno preconditioner: 41 stepsiteration count, rescaledmultiplications spenttwo curves, opposite waysκ21steps, no preconditioner41cheapest ε0.5its rank1tightest ⁄ cheapest2.4the count is what is printedand the cost is what is spent

The accuracy worth paying for

Used as a preconditioner, a hierarchical representation gets better at every accuracy — the iteration count falls monotonically all the way to the tightest tolerance. The total work does not. Its minimum sits at a rank-one preconditioner on an easy problem and six decades further along on a hard one.

hierarchy · Hierarchical solve
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
places settled, of 14the arithmetic14 of 14one missing link3 of 14α from 0.80 to 0.9011 of 14entries move by 4.05·10⁻¹¹entries move by 0.00443entries move by 0.00123three kinds of doubtcomparisons14smallest gap6.3·10⁻⁵largest gap0.0024arithmetic band4.1·10⁻¹¹one-link band0.0044α band0.0012the arithmetic settles nearly all of themthe data settles three

A ranking whose order is not determined

Of the fourteen adjacent comparisons in a top-fifteen, fourteen survive perturbing the arithmetic at the rounding level, eleven survive moving the teleportation parameter across its usual range, and three survive removing one link. The computation is the strongest part of the answer.

graph · Perron frobenius
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
10⁻¹⁴10⁻¹¹10⁻⁸10⁻⁵10⁻²10⁻¹³10⁻¹⁰10⁻⁷10⁻⁴10⁻¹relative compression error, chosen‖x − x*‖ ⁄ ‖x*‖κ × the chosen backward errorthe error in the answerboth factors known firstκ21chosen at 10⁻⁸1.4·10⁻⁹predicted forward2.9·10⁻⁸measured forward1.6·10⁻⁹bound ⁄ measured26the amplifier, used forwardsfor once

The knob that moved two things

Decide how many digits the answer needs, divide by the condition number, and compress to that. It is the one rule licensed in advance here, and its two factors are not the independent inputs it reads as: the partition's leaf moves neither of them and moves the answer by nearly a factor of three, and the only knob here that raises κ halves the ranks while it does so.

hierarchy · Hierarchical solve
122028364452606876849210010⁻¹110¹grid points nrelative error against the continuous signalbest with no λ: n = 26no λeach grid's best λTikhonov, 64 points0.1% noise, 16 drawsbest grid with no λ26its error0.1396 points with its λ0.12best λ on fine grids0.0056each point is a median over the same drawsλ belongs to the problem, not to the grid

Where the grid hands over to λ

An unregularised solve on a coarse grid comes within a tenth of the best Tikhonov answer on a fine one, and the pair of a grid and a λ was left unmeasured. Measured, the two do not trade. On every grid up to the best unregularised one no λ helps at all. On every grid of 40 points and more the best λ is the same to within a quarter of a decade — 3.2·10⁻² at 1% noise per sample, 10⁻³ at 0.01% — and the 96-point grid with it beats the best coarse grid by 7, 9 and 13 per cent. The grids between the two, given their own λ, land between them.

regularisation · 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
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
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
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
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

Named alongside it

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

Tikhonov regularisationDiscrepancy principleRegularisationGeneralised cross-validationL-curveFilter factorsIll-posed problemOracleNoise floorPreconditioningCondition numberConjugate gradients

All concepts