Wasserstein-Splitting Gaussian Process Regression for Heterogeneous Online Bayesian Inference

  title={Wasserstein-Splitting Gaussian Process Regression for Heterogeneous Online Bayesian Inference},
  author={Michael E. Kepler and Alec Koppel and A. S. Bedi and Daniel J. Stilwell},
  journal={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
Gaussian processes (GPs) are a well-known nonparametric Bayesian inference technique, but they suffer from scalability problems for large sample sizes, and their performance can degrade for non-stationary or spatially heterogeneous data. In this work, we seek to overcome these issues through (i) employing variational free energy approximations of GPs operating in tandem with online expectation propagation steps; and (ii) introducing a local splitting step which instantiates a new GP whenever… 
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