arxiv.org
Warped Gaussian processes (GPs) handle non-Gaussian observations by mapping them into a latent standard GP via a parametric transformation called warping. Existing online variants either optimize the warping parameters periodically rather than sequentially, or sacrifice analytical tractability and computational efficiency for higher model expressivity. In this paper, we avoid these compromises. To achieve this, we first show that the gradient of the instantaneous negative log-likelihood of a warped GP admits an exact recursive computation. Based on this result, we propose a novel online method for warped GPs that jointly updates the latent GP moments and optimizes the warping parameters. Finally, we validate our method on an existing benchmark adapted to an online formulation.