Project Bergamot is a joint project between several European universities and Mozilla for the development of machine translation software based on artificial neural networks, which is intended for local execution on end-user devices. The software library that was created and the associated language models were made available to the general public as Free Software. Execution requires a x86 CPU with SSE4.1 instruction set extensions. In 2022, Devin Coldewey of TechCrunch judged the translation quality to be "more than adequate", but considered Firefox Translations to be not yet fully mature. == Usage == Mozilla used the Bergamot Translator to expand its web browser Firefox with a feature for translating web pages, which was previously considered an important gap in Firefox' feature set. It is often compared to the much older corresponding feature in Google Chrome, which utilizes a cloud-based background service. In contrast, Firefox Translations does not require any data to leave the user's computer, resulting in advantages in terms of data protection, availability and possibly response times. There is just the installation of a new language model that needs to take place the first time a new language is encountered. Greater independence from large technology companies and their interests is also mentioned as an important advantage. Mozilla thus strengthened its position as an alternative software vendor with a particular focus on data protection and security. Mozilla followed up with the similar feature of speech recognition for spoken user input, based on whisperfile. On the other hand, slow translation times have been observed, especially on older devices. Also, Firefox Translations initially supported far fewer language pairs than other major translation services and is only gradually adding new models. On that matter, the training pipeline is also made available to interested parties to enable the creation of missing language models. TranslateLocally is a Firefox-independent translation software based on the Bergamot Translator. It is also available as an (Electron-based) standalone application or as an extension for Chromium-based web browsers. == History == Mozilla had already tried to get a (cloud-based) web content translation feature into Firefox a few years before Project Bergamot, but had failed because of the financial challenge. Microsoft had already delivered offline capabilities for its translation software in 2018. Google soon followed suit, Apple two years later. The software is based on the free translation framework Marian, which the University of Edinburgh had previously developed in cooperation with Microsoft, and is itself based on the Nematus toolkit that was presented in 2017. Under the leadership of the University of Edinburgh, a development consortium was formed with the Mozilla Corporation and the additional European universities of Prague, Sheffield and Tartu. In 2018, it was able to get 3 million euros of funding from the EU's Horizon 2020 programme. Firefox Translations was initially provided as an add-on. A first functional demonstration prototype was presented in October 2019. Beta version 117 had the feature integrated directly into the browser, the official release was in version 118 from September 2023. Both the add-on module and as part of Firefox, the code and the models are subject to the version 2 of the Mozilla Public License. Since 2022, the EU-funded HPLT project creates new language models. It involves additional partners, including the universities of Helsinki, Turku, Oslo and other partners from Spain, Norway and the Czech Republic.
Educational robotics
Educational robotics teaches the design, analysis, application and operation of robots. Robots include articulated robots, mobile robots or autonomous vehicles. Educational robotics can be taught from elementary school to graduate programs. Robotics may also be used to motivate and facilitate the instruction other, often foundational, topics such as computer programming, artificial intelligence or engineering design. == Education and training == Robotics engineers design robots, maintain them, develop new applications for them, and conduct research to expand the potential of robotics. Robots have become a popular educational tool in some middle and high schools, as well as in numerous youth summer camps, raising interest in programming, artificial intelligence and robotics among students. First-year computer science courses at several universities now include programming of a robot in addition to traditional software engineering-based coursework. == Category of Educational robotics == The categories of educational robots seen as having more than one category. It can be alienated into different categories based on their physical design and coding method. Generally they are categorised as arm robots, wheeled mobile robots and humanoid robots. Tangibly, coded robots uses a physical means of coding instead of the screens coding. === Initiatives in schools === Leachim, was a robot teacher programmed with the class curricular, as well as certain biographical information on the 40 students whom it was programmed to teach. Leachim could synthesize human speech using Diphone synthesis. It was invented by Michael J. Freeman in 1974 and was tested in a fourth grade classroom in the Bronx, New York. === Post-secondary degree programs === From approximately 1960 through 2005, robotics education at post-secondary institutions took place through elective courses, thesis experiences and design projects offered as part of degree programs in traditional academic disciplines, such as mechanical engineering, electrical engineering, industrial engineering or computer science. Since 2005, more universities have begun granting degrees in robotics as a discipline in its own right, often under the name "Robotic Engineering". Based on a 2015 web-based survey of robotics educators, the degree programs and their estimates annual graduates are listed alphabetically below. Note that only official degree programs where the word "robotics" appears on the transcript or diploma are listed here; whereas degree programs in traditional disciplines with course concentrations or thesis topics related to robotics are deliberately omitted. === Certification === The Robotics Certification Standards Alliance (RCSA) is an international robotics certification authority that confers various industry- and educational-related robotics certifications. === Summer robotics camp === Several summer camp programs include robotics as part of their core curriculum. In addition, youth summer robotics programs are frequently offered by celebrated museums such as the American Museum of Natural History and The Tech Museum of Innovation in Silicon Valley, CA, just to name a few. There are of benefits that come from attending robotics camps. It teaches students how to use teamwork, resilience and motivation, and decision-making. Students learn teamwork because most camps involve exciting activities requiring teamwork. Resilience and motivation is expected because by completing the challenging programs, students feel talented and accomplished after they complete the program. Also students are given unique situations making them make decisions to further their situation. === Educational robotics in special education === Educational robotics can be a useful tool in early and special education. According to a journal on new perspectives in science education, educational robotics can help to develop abilities that promote autonomy and assist their integration into society. Social and personal skills can also be developed through educational robotics. Using Lego Mindstorms NXT, schoolteachers were able to work with middle school aged children in order to develop programs and improve the children's social and personal skills. Additionally, problem solving skills and creativity were utilized through the creation of artwork and scenery to house the robots. Other studies show the benefits of educational robotics in special education as promoting superior cognitive functions, including executive functions. This can lead to an increased ability in "problem solving, reasoning and planning in typically developing preschool children." Through eight weeks of weekly forty-five-minute group sessions using the Bee-Bot, an increase in interest, attention, and interaction between both peers and adults was found in the school and preschool-aged children with Down Syndrome. This study suggests that educational robotics in the classroom can also lead to an improvement in visuo-spatial memory and mental planning. Furthermore, executive functions seemed to be possible in one child during this study.
Sammon mapping
Sammon mapping or Sammon projection is an algorithm that maps a high-dimensional space to a space of lower dimensionality (see multidimensional scaling) by trying to preserve the structure of inter-point distances in high-dimensional space in the lower-dimension projection. It is particularly suited for use in exploratory data analysis. The method was proposed by John W. Sammon in 1969. It is considered a non-linear approach as the mapping cannot be represented as a linear combination of the original variables as possible in techniques such as principal component analysis, which also makes it more difficult to use for classification applications. Denote the distance between ith and jth objects in the original space by d i j ∗ {\displaystyle \scriptstyle d_{ij}^{}} , and the distance between their projections by d i j {\displaystyle \scriptstyle d_{ij}^{}} . Sammon's mapping aims to minimize the following error function, which is often referred to as Sammon's stress or Sammon's error: E = 1 ∑ i < j d i j ∗ ∑ i < j ( d i j ∗ − d i j ) 2 d i j ∗ . {\displaystyle E={\frac {1}{\sum \limits _{i Wolfram Mathematica (also known as Mathematica) is a software system with built-in libraries for several areas of technical computing that allows machine learning, statistics, symbolic computation, data manipulation, network analysis, time series analysis, NLP, optimization, plotting functions and various types of data, implementation of algorithms, creation of user interfaces, and interfacing with programs written in other programming languages. It was conceived by Stephen Wolfram, and is developed by Wolfram Research of Champaign, Illinois. The Wolfram Language is the programming language used in Mathematica. Mathematica 1.0 was released on June 23, 1988 in Champaign, Illinois and Santa Clara, California. Mathematica's Wolfram Language is fundamentally based on Lisp; for example, the Mathematica command Most is identically equal to the Lisp command butlast. == Notebook interface == Mathematica is split into two parts: the kernel and the front end. The kernel interprets expressions (Wolfram Language code) and returns result expressions, which can then be displayed by the front end. The original front end, designed by Theodore Gray in 1988, consists of a notebook interface and allows the creation and editing of notebook documents that can contain code, plaintext, images, and graphics. Code development is also supported through support in a range of standard integrated development environment (IDE) including Eclipse, IntelliJ IDEA, Atom, Vim, Visual Studio Code and Git. The Mathematica Kernel also includes a command line front end. Other interfaces include JMath, based on GNU Readline and WolframScript which runs self-contained Mathematica programs (with arguments) from the UNIX command line. == High-performance computing == Capabilities for high-performance computing were extended with the introduction of packed arrays in version 4 (1999) and sparse matrices (version 5, 2003), and by adopting the GNU Multiple Precision Arithmetic Library to evaluate high-precision arithmetic. Version 5.2 (2005) added automatic multi-threading when computations are performed on multi-core computers. This release included CPU-specific optimized libraries. In addition Mathematica is supported by third party specialist acceleration hardware such as ClearSpeed. In 2002, gridMathematica was introduced to allow user level parallel programming on heterogeneous clusters and multiprocessor systems and in 2008 parallel computing technology was included in all Mathematica licenses including support for grid technology such as Windows HPC Server 2008, Microsoft Compute Cluster Server and Sun Grid. Support for CUDA and OpenCL GPU hardware was added in 2010. == Extensions == As of Version 14, there are 6,602 built-in functions and symbols in the Wolfram Language. Stephen Wolfram announced the launch of the Wolfram Function Repository in June 2019 as a way for the public Wolfram community to contribute functionality to the Wolfram Language. There are currently more than 3000 functions contributed as Resource Functions. In addition to the Wolfram Function Repository, there is a Wolfram Data Repository with computable data and the Wolfram Neural Net Repository for machine learning. Wolfram Mathematica is the basis of the Combinatorica package, which adds discrete mathematics functionality in combinatorics and graph theory to the program. == Connections to other applications, programming languages, and services == Communication with other applications can be done using a protocol called Wolfram Symbolic Transfer Protocol (WSTP). It allows communication between the Wolfram Mathematica kernel and the front end and provides a general interface between the kernel and other applications. Wolfram Research freely distributes a developer kit for linking applications written in the programming language C to the Mathematica kernel through WSTP using J/Link., a Java program that can ask Mathematica to perform computations. Similar functionality is achieved with .NET /Link, but with .NET programs instead of Java programs. Other languages that connect to Mathematica include Haskell, AppleScript, Racket, Visual Basic, Python, and Clojure. Mathematica supports the generation and execution of Modelica models for systems modeling and connects with Wolfram System Modeler. Links are also available to many third-party software packages and APIs. Mathematica can also capture real-time data from a variety of sources and can read and write to public blockchains (Bitcoin, Ethereum, and ARK). It supports import and export of over 220 data, image, video, sound, computer-aided design (CAD), geographic information systems (GIS), document, and biomedical formats. In 2019, support was added for compiling Wolfram Language code to LLVM. Version 12.3 of the Wolfram Language added support for Arduino. == Computable data == Mathematica is also integrated with Wolfram Alpha, an online answer engine that provides additional data, some of which is kept updated in real time, for users who use Mathematica with an internet connection. Some of the data sets include astronomical, chemical, geopolitical, language, biomedical, airplane, and weather data, in addition to mathematical data (such as knots and polyhedra). == Reception == BYTE in 1989 listed Mathematica as among the "Distinction" winners of the BYTE Awards, stating that it "is another breakthrough Macintosh application ... it could enable you to absorb the algebra and calculus that seemed impossible to comprehend from a textbook". Mathematica has been criticized for being closed source. Wolfram Research claims keeping Mathematica closed source is central to its business model and the continuity of the software. Nonlinear dimensionality reduction (NLDR), also known as manifold learning, is any of various related techniques that aim to project high-dimensional data, potentially existing across non-linear manifolds which cannot be adequately captured by linear decomposition methods, onto lower-dimensional latent manifolds, with the goal of either visualizing the data in the low-dimensional space, or learning the mapping (either from the high-dimensional space to the low-dimensional embedding or vice versa) itself. The techniques described below can be understood as generalizations of linear decomposition methods used for dimensionality reduction, such as singular value decomposition and principal component analysis. == Applications of NLDR == High dimensional data can be hard for machines to work with, requiring significant time and space for analysis. It also presents a challenge for humans, since it's hard to visualize or understand data in more than three dimensions. Reducing the dimensionality of a data set, while keeping its essential features relatively intact, can make algorithms more efficient and allow analysts to visualize trends and patterns. The reduced-dimensional representations of data are often referred to as "intrinsic variables". This description implies that these are the values from which the data was produced. For example, consider a dataset that contains images of a letter 'A', which has been scaled and rotated by varying amounts. Each image has 32×32 pixels. Each image can be represented as a vector of 1024 pixel values. Each row is a sample on a two-dimensional manifold in 1024-dimensional space (a Hamming space). The intrinsic dimensionality is two, because two variables (rotation and scale) were varied in order to produce the data. Information about the shape or look of a letter 'A' is not part of the intrinsic variables because it is the same in every instance. Nonlinear dimensionality reduction will discard the correlated information (the letter 'A') and recover only the varying information (rotation and scale). By comparison, if principal component analysis, which is a linear dimensionality reduction algorithm, is used to reduce this same dataset into two dimensions, the resulting values are not so well organized. This demonstrates that the high-dimensional vectors (each representing a letter 'A') that sample this manifold vary in a non-linear manner. It should be apparent, therefore, that NLDR has several applications in the field of computer-vision. For example, consider a robot that uses a camera to navigate in a closed static environment. The images obtained by that camera can be considered to be samples on a manifold in high-dimensional space, and the intrinsic variables of that manifold will represent the robot's position and orientation. Invariant manifolds are of general interest for model order reduction in dynamical systems. In particular, if there is an attracting invariant manifold in the phase space, nearby trajectories will converge onto it and stay on it indefinitely, rendering it a candidate for dimensionality reduction of the dynamical system. While such manifolds are not guaranteed to exist in general, the theory of spectral submanifolds (SSM) gives conditions for the existence of unique attracting invariant objects in a broad class of dynamical systems. Active research in NLDR seeks to unfold the observation manifolds associated with dynamical systems to develop modeling techniques. Some of the more prominent nonlinear dimensionality reduction techniques are listed below. == Important concepts == === Sammon's mapping === Sammon's mapping is one of the first and most popular NLDR techniques. === Self-organizing map === The self-organizing map (SOM, also called Kohonen map) and its probabilistic variant generative topographic mapping (GTM) use a point representation in the embedded space to form a latent variable model based on a non-linear mapping from the embedded space to the high-dimensional space. These techniques are related to work on density networks, which also are based around the same probabilistic model. === Kernel principal component analysis === Perhaps the most widely used algorithm for dimensional reduction is kernel PCA. PCA begins by computing the covariance matrix of the m × n {\displaystyle m\times n} matrix X {\displaystyle \mathbf {X} } C = 1 m ∑ i = 1 m x i x i T . {\displaystyle C={\frac {1}{m}}\sum _{i=1}^{m}{\mathbf {x} _{i}\mathbf {x} _{i}^{\mathsf {T}}}.} It then projects the data onto the first k eigenvectors of that matrix. By comparison, KPCA begins by computing the covariance matrix of the data after being transformed into a higher-dimensional space, C = 1 m ∑ i = 1 m Φ ( x i ) Φ ( x i ) T . {\displaystyle C={\frac {1}{m}}\sum _{i=1}^{m}{\Phi (\mathbf {x} _{i})\Phi (\mathbf {x} _{i})^{\mathsf {T}}}.} It then projects the transformed data onto the first k eigenvectors of that matrix, just like PCA. It uses the kernel trick to factor away much of the computation, such that the entire process can be performed without actually computing Φ ( x ) {\displaystyle \Phi (\mathbf {x} )} . Of course Φ {\displaystyle \Phi } must be chosen such that it has a known corresponding kernel. Unfortunately, it is not trivial to find a good kernel for a given problem, so KPCA does not yield good results with some problems when using standard kernels. For example, it is known to perform poorly with these kernels on the Swiss roll manifold. However, one can view certain other methods that perform well in such settings (e.g., Laplacian Eigenmaps, LLE) as special cases of kernel PCA by constructing a data-dependent kernel matrix. KPCA has an internal model, so it can be used to map points onto its embedding that were not available at training time. === Principal curves and manifolds === Principal curves and manifolds give the natural geometric framework for nonlinear dimensionality reduction and extend the geometric interpretation of PCA by explicitly constructing an embedded manifold, and by encoding using standard geometric projection onto the manifold. This approach was originally proposed by Trevor Hastie in his 1984 thesis, which he formally introduced in 1989. This idea has been explored further by many authors. How to define the "simplicity" of the manifold is problem-dependent, however, it is commonly measured by the intrinsic dimensionality and/or the smoothness of the manifold. Usually, the principal manifold is defined as a solution to an optimization problem. The objective function includes a quality of data approximation and some penalty terms for the bending of the manifold. The popular initial approximations are generated by linear PCA and Kohonen's SOM. === Laplacian eigenmaps === Laplacian eigenmaps uses spectral techniques to perform dimensionality reduction. This technique relies on the basic assumption that the data lies in a low-dimensional manifold in a high-dimensional space. This algorithm cannot embed out-of-sample points, but techniques based on Reproducing kernel Hilbert space regularization exist for adding this capability. Such techniques can be applied to other nonlinear dimensionality reduction algorithms as well. Traditional techniques like principal component analysis do not consider the intrinsic geometry of the data. Laplacian eigenmaps builds a graph from neighborhood information of the data set. Each data point serves as a node on the graph and connectivity between nodes is governed by the proximity of neighboring points (using e.g. the k-nearest neighbor algorithm). The graph thus generated can be considered as a discrete approximation of the low-dimensional manifold in the high-dimensional space. Minimization of a cost function based on the graph ensures that points close to each other on the manifold are mapped close to each other in the low-dimensional space, preserving local distances. The eigenfunctions of the Laplace–Beltrami operator on the manifold serve as the embedding dimensions, since under mild conditions this operator has a countable spectrum that is a basis for square integrable functions on the manifold (compare to Fourier series on the unit circle manifold). Attempts to place Laplacian eigenmaps on solid theoretical ground have met with some success, as under certain nonrestrictive assumptions, the graph Laplacian matrix has been shown to converge to the Laplace–Beltrami operator as the number of points goes to infinity. === Isomap === Isomap is a combination of the Floyd–Warshall algorithm with classic Multidimensional Scaling (MDS). Classic MDS takes a matrix of pair-wise distances between all points and computes a position for each point. Isomap assumes that the pair-wise distances are only known between neighboring points, and uses the Floyd–Warshall algorithm to compute the pair-wise distances between all other points. This effectively estimates the full matrix of pair-wise geodesic distances between all of the points. Isomap th Equalized odds, also referred to as conditional procedure accuracy equality and disparate mistreatment, is a measure of fairness in machine learning. A classifier satisfies this definition if the subjects in the protected and unprotected groups have equal true positive rate and equal false positive rate, satisfying the formula: P ( R = + | Y = y , A = a ) = P ( R = + | Y = y , A = b ) y ∈ { + , − } ∀ a , b ∈ A {\displaystyle P(R=+|Y=y,A=a)=P(R=+|Y=y,A=b)\quad y\in \{+,-\}\quad \forall a,b\in A} For example, A {\displaystyle A} could be gender, race, or any other characteristics that we want to be free of bias, while Y {\displaystyle Y} would be whether the person is qualified for the degree, and the output R {\displaystyle R} would be the school's decision whether to offer the person to study for the degree. In this context, higher university enrollment rates of African Americans compared to whites with similar test scores might be necessary to fulfill the condition of equalized odds, if the "base rate" of Y {\displaystyle Y} differs between the groups. The concept was originally defined for binary-valued Y {\displaystyle Y} . In 2017, Woodworth et al. generalized the concept further for multiple classes. (Stochastic) variance reduction is an algorithmic approach to minimizing functions that can be decomposed into finite sums. By exploiting the finite sum structure, variance reduction techniques are able to achieve convergence rates that are impossible to achieve with methods that treat the objective as an infinite sum, as in the classical Stochastic approximation setting. Variance reduction approaches are widely used for training machine learning models such as logistic regression and support vector machines as these problems have finite-sum structure and uniform conditioning that make them ideal candidates for variance reduction. == Finite sum objectives == A function f {\displaystyle f} is considered to have finite sum structure if it can be decomposed into a summation or average: f ( x ) = 1 n ∑ i = 1 n f i ( x ) , {\displaystyle f(x)={\frac {1}{n}}\sum _{i=1}^{n}f_{i}(x),} where the function value and derivative of each f i {\displaystyle f_{i}} can be queried independently. Although variance reduction methods can be applied for any positive n {\displaystyle n} and any f i {\displaystyle f_{i}} structure, their favorable theoretical and practical properties arise when n {\displaystyle n} is large compared to the condition number of each f i {\displaystyle f_{i}} , and when the f i {\displaystyle f_{i}} have similar (but not necessarily identical) Lipschitz smoothness and strong convexity constants. The finite sum structure should be contrasted with the stochastic approximation setting which deals with functions of the form f ( θ ) = E ξ [ F ( θ , ξ ) ] {\textstyle f(\theta )=\operatorname {E} _{\xi }[F(\theta ,\xi )]} which is the expected value of a function depending on a random variable ξ {\textstyle \xi } . Any finite sum problem can be optimized using a stochastic approximation algorithm by using F ( ⋅ , ξ ) = f ξ {\displaystyle F(\cdot ,\xi )=f_{\xi }} . == Rapid Convergence == Stochastic variance reduced methods without acceleration are able to find a minima of f {\displaystyle f} within accuracy ϵ > {\displaystyle \epsilon >} , i.e. f ( x ) − f ( x ∗ ) ≤ ϵ {\displaystyle f(x)-f(x_{})\leq \epsilon } in a number of steps of the order: O ( ( L μ + n ) log ( 1 ϵ ) ) . {\displaystyle O\left(\left({\frac {L}{\mu }}+n\right)\log \left({\frac {1}{\epsilon }}\right)\right).} The number of steps depends only logarithmically on the level of accuracy required, in contrast to the stochastic approximation framework, where the number of steps O ( L / ( μ ϵ ) ) {\displaystyle O{\bigl (}L/(\mu \epsilon ){\bigr )}} required grows proportionally to the accuracy required. Stochastic variance reduction methods converge almost as fast as the gradient descent method's O ( ( L / μ ) log ( 1 / ϵ ) ) {\displaystyle O{\bigl (}(L/\mu )\log(1/\epsilon ){\bigr )}} rate, despite using only a stochastic gradient, at a 1 / n {\displaystyle 1/n} lower cost than gradient descent. Accelerated methods in the stochastic variance reduction framework achieve even faster convergence rates, requiring only O ( ( n L μ + n ) log ( 1 ϵ ) ) {\displaystyle O\left(\left({\sqrt {\frac {nL}{\mu }}}+n\right)\log \left({\frac {1}{\epsilon }}\right)\right)} steps to reach ϵ {\displaystyle \epsilon } accuracy, potentially n {\displaystyle {\sqrt {n}}} faster than non-accelerated methods. Lower complexity bounds. for the finite sum class establish that this rate is the fastest possible for smooth strongly convex problems. == Approaches == Variance reduction approaches fall within four main categories: table averaging methods, full-gradient snapshot methods, recursive estimator methods (e.g., SARAH), and dual methods. Each category contains methods designed for dealing with convex, non-smooth, and non-convex problems, each differing in hyper-parameter settings and other algorithmic details. === SAGA === In the SAGA method, the prototypical table averaging approach, a table of size n {\displaystyle n} is maintained that contains the last gradient witnessed for each f i {\displaystyle f_{i}} term, which we denote g i {\displaystyle g_{i}} . At each step, an index i {\displaystyle i} is sampled, and a new gradient ∇ f i ( x k ) {\displaystyle \nabla f_{i}(x_{k})} is computed. The iterate x k {\displaystyle x_{k}} is updated with: x k + 1 = x k − γ [ ∇ f i ( x k ) − g i + 1 n ∑ i = 1 n g i ] , {\displaystyle x_{k+1}=x_{k}-\gamma \left[\nabla f_{i}(x_{k})-g_{i}+{\frac {1}{n}}\sum _{i=1}^{n}g_{i}\right],} and afterwards table entry i {\displaystyle i} is updated with g i = ∇ f i ( x k ) {\displaystyle g_{i}=\nabla f_{i}(x_{k})} . SAGA is among the most popular of the variance reduction methods due to its simplicity, easily adaptable theory, and excellent performance. It is the successor of the SAG method, improving on its flexibility and performance. === SVRG === The stochastic variance reduced gradient method (SVRG), the prototypical snapshot method, uses a similar update except instead of using the average of a table it instead uses a full-gradient that is reevaluated at a snapshot point x ~ {\displaystyle {\tilde {x}}} at regular intervals of m ≥ n {\displaystyle m\geq n} iterations. The update becomes: x k + 1 = x k − γ [ ∇ f i ( x k ) − ∇ f i ( x ~ ) + ∇ f ( x ~ ) ] , {\displaystyle x_{k+1}=x_{k}-\gamma [\nabla f_{i}(x_{k})-\nabla f_{i}({\tilde {x}})+\nabla f({\tilde {x}})],} This approach requires two stochastic gradient evaluations per step, one to compute ∇ f i ( x k ) {\displaystyle \nabla f_{i}(x_{k})} and one to compute ∇ f i ( x ~ ) , {\displaystyle \nabla f_{i}({\tilde {x}}),} where-as table averaging approaches need only one. Despite the high computational cost, SVRG is popular as its simple convergence theory is highly adaptable to new optimization settings. It also has lower storage requirements than tabular averaging approaches, which make it applicable in many settings where tabular methods can not be used. === SARAH === The SARAH (stochastic recursive gradient) method maintains a recursive estimator of the gradient rather than storing a table of past gradients (as in SAGA) or computing periodic full-gradient snapshots (as in SVRG). At the start of an inner loop, a full gradient is computed at a reference point x ~ {\displaystyle {\tilde {x}}} : v 0 = ∇ f ( x ~ ) {\displaystyle v_{0}=\nabla f({\tilde {x}})} . For inner iterations, with a sampled index i k {\displaystyle i_{k}} , the gradient estimator and iterate are updated by: v k = ∇ f i k ( x k ) − ∇ f i k ( x k − 1 ) + v k − 1 , x k + 1 = x k − γ v k . {\displaystyle v_{k}=\nabla f_{i_{k}}(x_{k})-\nabla f_{i_{k}}(x_{k-1})+v_{k-1},\qquad x_{k+1}=x_{k}-\gamma v_{k}.} This recursion requires two component-gradient evaluations per step ∇ f i k ( x k ) {\displaystyle \nabla f_{i_{k}}(x_{k})} and ∇ f i k ( x k − 1 ) {\displaystyle \nabla f_{i_{k}}(x_{k-1})} but does not need to store per-sample gradients, resulting in lower memory cost than table-averaging methods. SARAH admits linear convergence for strongly convex functions and has been extended to more general nonconvex and composite problems. === SDCA === Exploiting the dual representation of the objective leads to another variance reduction approach that is particularly suited to finite-sums where each term has a structure that makes computing the convex conjugate f i ∗ , {\displaystyle f_{i}^{},} or its proximal operator tractable. The standard SDCA method considers finite sums that have additional structure compared to generic finite sum setting: f ( x ) = 1 n ∑ i = 1 n f i ( x T v i ) + λ 2 ‖ x ‖ 2 , {\displaystyle f(x)={\frac {1}{n}}\sum _{i=1}^{n}f_{i}(x^{T}v_{i})+{\frac {\lambda }{2}}\|x\|^{2},} where each f i {\displaystyle f_{i}} is 1 dimensional and each v i {\displaystyle v_{i}} is a data point associated with f i {\displaystyle f_{i}} . SDCA solves the dual problem: max α ∈ R n − 1 n ∑ i = 1 n f i ∗ ( − α i ) − λ 2 ‖ 1 λ n ∑ i = 1 n α i v i ‖ 2 , {\displaystyle \max _{\alpha \in \mathbb {R} ^{n}}-{\frac {1}{n}}\sum _{i=1}^{n}f_{i}^{}(-\alpha _{i})-{\frac {\lambda }{2}}\left\|{\frac {1}{\lambda n}}\sum _{i=1}^{n}\alpha _{i}v_{i}\right\|^{2},} by a stochastic coordinate ascent procedure, where at each step the objective is optimized with respect to a randomly chosen coordinate α i {\displaystyle \alpha _{i}} , leaving all other coordinates the same. An approximate primal solution x {\displaystyle x} can be recovered from the α {\displaystyle \alpha } values: x = 1 λ n ∑ i = 1 n α i v i {\displaystyle x={\frac {1}{\lambda n}}\sum _{i=1}^{n}\alpha _{i}v_{i}} . This method obtains similar theoretical rates of convergence to other stochastic variance reduced methods, while avoiding the need to specify a step-size parameter. It is fast in practice when λ {\displaystyle \lambda } is large, but significantly slower than the other approaches when λ {\displaystyle \lambda } is small. == Accelerated approaches == Accelerated variance reduction methods are built upon the standard methods above. The earliest approaches make use of proximal operators tWolfram Mathematica
Nonlinear dimensionality reduction
Equalized odds
Stochastic variance reduction