Streaming Generated Gaussian Process Experts for Online Learning and Control
Yang, Zewen Zhang, Dongfa Dai, Xiaobing Yu, Fengyi Zhang, Chi Huang, Bingkun Sadeghian, Hamid Haddadin, Sami
Yang, Zewen
Zhang, Dongfa
Dai, Xiaobing
Yu, Fengyi
Zhang, Chi
Huang, Bingkun
Sadeghian, Hamid
Haddadin, Sami
Supervisor
Department
Robotics
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Conference proceeding
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Abstract
Gaussian Processes (GPs), as a nonparametric learning method, offer flexible modeling capabilities and calibrated uncertainty quantification for function approximations. Additionally, GPs support online learning by efficiently incorporating new data with polynomial-time computation, making them well-suited for safety-critical dynamical systems that require rapid adaptation. However, the inference and online updates of exact GPs, when processing streaming data, incur cubic computation time and quadratic storage memory complexity, limiting their scalability to large datasets in real-time settings. In this paper, we propose a streaming kernel-induced progressively generated expert framework of Gaussian processes (SkyGP) that addresses both computational and memory constraints by maintaining a bounded set of experts, while inheriting the learning performance guarantees from exact Gaussian processes. Furthermore, two SkyGP variants are introduced, each tailored to a specific objective, either maximizing prediction accuracy (SkyGP-Dense) or improving computational efficiency (SkyGP-Fast). The effectiveness of SkyGP is validated through extensive benchmarks and real-time control experiments demonstrating its superior performance compared to state-of-the-art approaches.
Citation
Z. Yang, D. Zhang, X. Dai, F. Yu, C. Zhang, B. Huang , et al., "Streaming Generated Gaussian Process Experts for Online Learning and Control," 2026, pp. 27719-27727.
Source
Proceedings of the AAAI Conference on Artificial Intelligence
Conference
AAAI Conference on Artificial Intelligence
Keywords
46 Information and Computing Sciences, 4611 Machine Learning, 7 Affordable and Clean Energy
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Source
AAAI Conference on Artificial Intelligence
Publisher
Association for the Advancement of Artificial Intelligence