Evaluating Classification Model Performance
Evaluating Model Performance
When only the wealthy could afford
education, tests and exams did not evaluate students' potential. Instead,
teachers were judged for parents who wanted to know whether their children had
learned enough to justify the instructors' wages. Obviously, this has changed
over the years. Now, such evaluations are used to distinguish between high- and
low-achieving students, filtering them into careers and other opportunities.
Given the significance of this process, a
great deal of effort is invested in developing accurate student assessments.
Fair assessments have a large number of questions that cover a wide breadth of
topics and reward true knowledge over lucky guesses. They also require students
to think about problems they have never faced before. Correct responses
therefore indicate that students can generalize their knowledge more broadly.
The process of evaluating machine learning
algorithms is very similar to the process of evaluating students. Since
algorithms have varying strengths and weaknesses, tests should distinguish
among the learners. It is also important to forecast how a learner will perform
on future data.
Just as the best way to learn a topic is to attempt to teach it to someone else, the process of teaching and evaluating machine learners will provide you with greater insight into the methods you've learned so far.:
Measuring performance for classification
In the previous chapters, we measured classifier accuracy by dividing the proportion of correct predictions by the total number of predictions. This indicates the percentage of cases in which the learner is right or wrong. For example, suppose that for 99,990 out of 100,000 newborn babies a classifier correctly predicted whether they were a carrier of a treatable but potentially fatal genetic defect. This would imply an accuracy of 99.99 percent and an error rate of only 0.01 percent.
At first glance, this appears to be an extremely accurate classifier. However, it would be wise to collect additional information before trusting your child's life to the test. What if the genetic defect is found in only 10 out of every 100,000 babies? A test that predicts no defect regardless of the circumstances will be correct for 99.99 percent of all cases, but incorrect for 100 percent of the cases that matter most. In other words, even though the predictions are extremely accurate, the classifier is not very useful to prevent treatable birth defects.
Though there are many ways to measure a classifier's performance, the best measure is always the one that captures whether the classifier is successful at its intended purpose. It is crucial to define the performance measures for utility rather than raw accuracy. To this end, we will begin exploring a variety of alternative performance measures derived from the confusion matrix. Before we get started, however, we need to consider how to prepare a classifier for evaluation.
The goal of evaluating a classification model is to have a better understanding of how its performance will extrapolate to future cases. Since it is usually unfeasible to test a still-unproven model in a live environment, we typically simulate future conditions by asking the model to classify a dataset made of cases that resemble what it will be asked to do in the future. By observing the learner's responses to this examination, we can learn about its strengths and weaknesses.
Though we've evaluated classifiers in the prior chapters, it's worth reflecting on the types of data at our disposal:
- Actual class values
- Predicted class values
- Estimated probability of the prediction
The actual and predicted class values may be self-evident, but they are the key to evaluation. Just like a teacher uses an answer key to assess the student's answers, we need to know the correct answer for a machine learner's predictions. The goal is to maintain two vectors of data: one holding the correct or actual class values, and the other holding the predicted class values. Both vectors must have the same number of values stored in the same order. The predicted and actual values may be stored as separate R vectors or columns in a single R data frame.
Obtaining this data is easy. The actual class values come directly from the target feature in the test dataset. Predicted class values are obtained from the classifier built upon the training data, and applied to the test data. For most machine learning packages, this involves applying the
predict() function to a model object and a data frame of test data, such as: predicted_outcome <- predict(model, test_data).
Until now, we have only examined classification predictions using these two vectors of data. Yet most models can supply another piece of useful information. Even though the classifier makes a single prediction about each example, it may be more confident about some decisions than others. For instance, a classifier may be 99 percent certain that an SMS with the words "free" and "ringtones" is spam, but is only 51 percent certain that an SMS with the word "tonight" is spam. In both cases, the classifier classifies the message as spam, but it is far more certain about one decision than the other.
Studying these internal prediction probabilities provides useful data to evaluate a model's performance. If two models make the same number of mistakes, but one is more capable of accurately assessing its uncertainty, then it is a smarter model. It's ideal to fid a learner that is extremely confident when making a correct prediction, but timid in the face of doubt. The balance between confidence and caution is a key part of model evaluation.
Unfortunately, obtaining internal prediction probabilities can be tricky because the method to do so varies across classifiers. In general, for most classifiers, the
predict() function is used to specify the desired type of prediction. To obtain a single predicted class, such as spam or ham, you typically set the type = "class"parameter. To obtain the prediction probability, the type parameter should be set to one of "prob", "posterior", "raw", or "probability" depending on the classifier used.Tip
Nearly all of the classifiers presented in this book will provide prediction probabilities. The
type parameter is included in the syntax box introducing each model.
For example, to output the predicted probabilities for the C5.0 classifier built in Chapter 5, Divide and Conquer – Classification Using Decision Trees and Rules, use the
predict() function with type = "prob" as follows:> predicted_prob <- predict(credit_model, credit_test, type = "prob")
To further illustrate the process of evaluating learning algorithms, let's look more closely at the performance of the SMS spam classification model developed in Chapter 4, Probabilistic Learning – Classification Using Naive Bayes. To output the naive Bayes predicted probabilities, use
predict() with type = "raw" as follows:> sms_test_prob <- predict(sms_classifier, sms_test, type = "raw")
In most cases, the
predict() function returns a probability for each category of the outcome. For example, in the case of a two-outcome model like the SMS classifier, the predicted probabilities might be a matrix or data frame as shown here:> head(sms_test_prob)
ham spam
[1,] 9.999995e-01 4.565938e-07
[2,] 9.999995e-01 4.540489e-07
[3,] 9.998418e-01 1.582360e-04
[4,] 9.999578e-01 4.223125e-05
[5,] 4.816137e-10 1.000000e+00
[6,] 9.997970e-01 2.030033e-04
Each line in this output shows the classifier's predicted probability of
spam and ham, which always sum up to 1 because these are the only two outcomes. While constructing an evaluation dataset, it is important to ensure that you are using the correct probability for the class level of interest. To avoid confusion, in the case of a binary outcome, you might even consider dropping the vector for one of the two alternatives.
For convenience during the evaluation process, it can be helpful to construct a data frame containing the predicted class values, actual class values, as well as the estimated probabilities of interest.
Tip
The steps required to construct the evaluation dataset have been omitted for brevity, but are included in this chapter's code on the Packt Publishing website. To follow along with the examples here, download the
sms_results.csv file, and load to a data frame using the sms_results <- read.csv("sms_results.csv")command.
The
sms_results data frame is simple. It contains four vectors of 1,390 values. One vector contains values indicating the actual type of SMS message (spam or ham), one vector indicates the naive Bayes model's predicted type, and the third and fourth vectors indicate the probability that the message was spam or ham, respectively:> head(sms_results)
actual_type predict_type prob_spam prob_ham
1 ham ham 0.00000 1.00000
2 ham ham 0.00000 1.00000
3 ham ham 0.00016 0.99984
4 ham ham 0.00004 0.99996
5 spam spam 1.00000 0.00000
6 ham ham 0.00020 0.99980
For these six test cases, the predicted and actual SMS message types agree; the model predicted their status correctly. Furthermore, the prediction probabilities suggest that model was extremely confident about these predictions, because they all fall close to zero or one.
What happens when the predicted and actual values are further from zero and one? Using the
subset()function, we can identify a few of these records. The following output shows test cases where the model estimated the probability of spam somewhere between 40 and 60 percent:> head(subset(sms_results, prob_spam > 0.40 & prob_spam < 0.60))
actual_type predict_type prob_spam prob_ham
377 spam ham 0.47536 0.52464
717 ham spam 0.56188 0.43812
1311 ham spam 0.57917 0.42083
By the model's own admission, these were cases in which a correct prediction was virtually a coin flip. Yet all three predictions were wrong—an unlucky result. Let's look at a few more cases where the model was wrong:
> head(subset(sms_results, actual_type != predict_type))
actual_type predict_type prob_spam prob_ham
53 spam ham 0.00071 0.99929
59 spam ham 0.00156 0.99844
73 spam ham 0.01708 0.98292
76 spam ham 0.00851 0.99149
184 spam ham 0.01243 0.98757
332 spam ham 0.00003 0.99997
These cases illustrate the important fact that a model can be extremely confident and yet it can be extremely wrong. All six of these test cases were
spam that the classifier believed to have no less than a 98 percent chance of being ham.
A confusion matrix is a table that categorizes predictions according to whether they match the actual value. One of the table's dimensions indicates the possible categories of predicted values, while the other dimension indicates the same for actual values. Although we have only seen 2 x 2 confusion matrices so far, a matrix can be created for models that predict any number of class values. The following figure depicts the familiar confusion matrix for a two-class binary model as well as the 3 x 3 confusion matrix for a three-class model.
When the predicted value is the same as the actual value, it is a correct classification. Correct predictions fall on the diagonal in the confusion matrix (denoted by O). The off-diagonal matrix cells (denoted by X) indicate the cases where the predicted value differs from the actual value. These are incorrect predictions. The performance measures for classification models are based on the counts of predictions falling on and off the diagonal in these tables:
The most common performance measures consider the model's ability to discern one class versus all others. The class of interest is known as the positive class, while all others are known as negative.
Tip
The use of the terms positive and negative is not intended to imply any value judgment (that is, good versus bad), nor does it necessarily suggest that the outcome is present or absent (such as birth defect versus none). The choice of the positive outcome can even be arbitrary, as in cases where a model is predicting categories such as sunny versus rainy or dog versus cat.
The relationship between the positive class and negative class predictions can be depicted as a 2 x 2 confusion matrix that tabulates whether predictions fall into one of the four categories:
- True Positive (TP): Correctly classified as the class of interest
- True Negative (TN): Correctly classified as not the class of interest
- False Positive (FP): Incorrectly classified as the class of interest
- False Negative (FN): Incorrectly classified as not the class of interest
For the spam classifier, the positive class is
spam, as this is the outcome we hope to detect. We can then imagine the confusion matrix as shown in the following diagram:
The confusion matrix, presented in this way, is the basis for many of the most important measures of model's performance. In the next section, we'll use this matrix to have a better understanding of what is meant by accuracy.
With the 2 x 2 confusion matrix, we can formalize our definition of prediction accuracy (sometimes called the success rate) as:
In this formula, the terms TP, TN, FP, and FN refer to the number of times the model's predictions fell into each of these categories. The accuracy is therefore a proportion that represents the number of true positives and true negatives, divided by the total number of predictions.
The error rate or the proportion of the incorrectly classified examples is specified as:
Notice that the error rate can be calculated as one minus the accuracy. Intuitively, this makes sense; a model that is correct 95 percent of the time is incorrect 5 percent of the time.
An easy way to tabulate a classifier's predictions into a confusion matrix is to use R's
table() function. The command to create a confusion matrix for the SMS data is shown as follows. The counts in this table could then be used to calculate accuracy and other statistics:> table(sms_results$actual_type, sms_results$predict_type)
ham spam
ham 1203 4
spam 31 152
If you like to create a confusion matrix with a more informative output, the
CrossTable() function in the gmodels package offers a customizable solution. If you recall, we first used this function in Chapter 2, Managing and Understanding Data. If you didn't install the package at that time, you will need to do so using the install.packages("gmodels") command.
By default, the
CrossTable() output includes proportions in each cell that indicate the cell count as a percentage of table's row, column, or overall total counts. The output also includes row and column totals. As shown in the following code, the syntax is similar to the table() function:> library(gmodels)
> CrossTable(sms_results$actual_type, sms_results$predict_type)
We've used
CrossTable() in several of the previous chapters, so by now you should be familiar with the output. If you ever forget how to interpret the output, simply refer to the key (labeled Cell Contents), which provides the definition of each number in the table cells.
We can use the confusion matrix to obtain the accuracy and error rate. Since the accuracy is (TP + TN) / (TP + TN + FP + FN), we can calculate it using following command:
> (152 + 1203) / (152 + 1203 + 4 + 31)
[1] 0.9748201
We can also calculate the error rate (FP + FN) / (TP + TN + FP + FN) as:
> (4 + 31) / (152 + 1203 + 4 + 31)
[1] 0.02517986
This is the same as one minus accuracy:
> 1 - 0.9748201
[1] 0.0251799
Countless performance measures have been developed and used for specific purposes in disciplines as diverse as medicine, information retrieval, marketing, and signal detection theory, among others. Covering all of them could fill hundreds of pages and makes a comprehensive description infeasible here. Instead, we'll consider only some of the most useful and commonly cited measures in the machine learning literature.
The Classification and Regression Training package
caret by Max Kuhn includes functions to compute many such performance measures. This package provides a large number of tools to prepare, train, evaluate, and visualize machine learning models and data. In addition to its use here, we will also employ caretextensively in Chapter 11, Improving Model Performance. Before proceeding, you will need to install the package using the install.packages("caret") command.Tip
For more information on
caret, please refer to: Kuhn M. Building predictive models in R using the caret package. Journal of Statistical Software. 2008; 28.
The
caret package adds yet another function to create a confusion matrix. As shown in the following command, the syntax is similar to table(), but with a minor difference. Because caret provides measures of model performance that consider the ability to classify the positive class, a positiveparameter should be specified. In this case, since the SMS classifier is intended to detect spam, we will set positive = "spam" as follows:> library(caret)
> confusionMatrix(sms_results$predict_type,
sms_results$actual_type, positive = "spam")
At the top of the output is a confusion matrix much like the one produced by the
table() function, but transposed. The output also includes a set of performance measures. Some of these, like accuracy, are familiar, while many others are new. Let's take a look at few of the most important metrics.
The kappa statistic (labeled
Kappa in the previous output) adjusts accuracy by accounting for the possibility of a correct prediction by chance alone. This is especially important for datasets with a severe class imbalance, because a classifier can obtain high accuracy simply by always guessing the most frequent class. The kappa statistic will only reward the classifier if it is correct more often than this simplistic strategy.
Kappa values range from 0 to a maximum of 1, which indicates perfect agreement between the model's predictions and the true values. Values less than one indicate imperfect agreement. Depending on how a model is to be used, the interpretation of the kappa statistic might vary. One common interpretation is shown as follows:
- Poor agreement = less than 0.20
- Fair agreement = 0.20 to 0.40
- Moderate agreement = 0.40 to 0.60
- Good agreement = 0.60 to 0.80
- Very good agreement = 0.80 to 1.00
It's important to note that these categories are subjective. While a "good agreement" may be more than adequate to predict someone's favorite ice cream flavor, "very good agreement" may not suffice if your goal is to identify birth defects.
Tip
For more information on the previous scale, refer to: Landis JR, Koch GG. The measurement of observer agreement for categorical data. Biometrics. 1997; 33:159-174.
The following is the formula to calculate the kappa statistic. In this formula, Pr(a) refers to the proportion of the actual agreement and Pr(e) refers to the expected agreement between the classifier and the true values, under the assumption that they were chosen at random:
Tip
There is more than one way to define the kappa statistic. The most common method described here uses Cohen's kappa coefficient, as described in the paper: Cohen J. A coefficient of agreement for nominal scales. Education and Psychological Measurement. 1960; 20:37-46.
These proportions are easy to obtain from a confusion matrix once you know where to look. Let's consider the confusion matrix for the SMS classification model created with the
CrossTable() function, which is repeated here for convenience:
Remember that the bottom value in each cell indicates the proportion of all instances falling into that cell. Therefore, to calculate the observed agreement Pr(a), we simply add the proportion of all instances where the predicted type and actual SMS type agree. Thus, we can calculate Pr(a) as:
> pr_a <- 0.865 + 0.109
> pr_a
[1] 0.974
For this classifier, the observed and actual values agree 97.4 percent of the time—you will note that this is the same as the accuracy. The kappa statistic adjusts the accuracy relative to the expected agreement Pr(e), which is the probability that the chance alone would lead the predicted and actual values to match, under the assumption that both are selected randomly according to the observed proportions.
To find these observed proportions, we can use the probability rules we learned in Chapter 4, Probabilistic Learning – Classification Using Naive Bayes. Assuming two events are independent (meaning that one does not affect the other), probability rules note that the probability of both occurring is equal to the product of the probabilities of each one occurring. For instance, we know that the probability of both choosing ham is:
Pr(actual type is ham) * Pr(predicted type is ham)
The probability of both choosing spam is:
Pr(actual type is spam) * Pr(predicted type is spam)
The probability that the predicted or actual type is spam or ham can be obtained from the row or column totals. For instance, Pr(actual type is ham) = 0.868 and Pr(predicted type is ham) = 0.888.
Pr(e) is calculated as the sum of the probabilities that by chance the predicted and actual values agree that the message is either spam or ham. Recall that for mutually exclusive events (events that cannot happen simultaneously), the probability of either occurring is equal to the sum of their probabilities. Therefore, to obtain the final Pr(e), we simply add both products, as shown in the following commands:
> pr_e <- 0.868 * 0.888 + 0.132 * 0.112
> pr_e
[1] 0.785568
Since Pr(e) is 0.786, by chance alone, we would expect the observed and actual values to agree about 78.6 percent of the time.
This means that we now have all the information needed to complete the kappa formula. Plugging the Pr(a) and Pr(e) values into the kappa formula, we find:
> k <- (pr_a - pr_e) / (1 - pr_e)
> k
[1] 0.8787494
The kappa is about 0.88, which agrees with the previous
confusionMatrix() output from caret (the small difference is due to rounding). Using the suggested interpretation, we note that there is very good agreement between the classifier's predictions and the actual values.
There are a couple of R functions to calculate kappa automatically. The
Kappa() function (be sure to note the capital 'K') in the Visualizing Categorical Data (vcd) package uses a confusion matrix of predicted and actual values. After installing the package by typing install.packages("vcd"), the following commands can be used to obtain kappa:> library(vcd)
> Kappa(table(sms_results$actual_type, sms_results$predict_type))
value ASE
Unweighted 0.8825203 0.01949315
Weighted 0.8825203 0.01949315
We're interested in the unweighted kappa. The value 0.88 matches what we expected.
Tip
The weighted kappa is used when there are varying degrees of agreement. For example, using a scale of cold, cool, warm, and hot, a value of warm agrees more with hot than it does with the value of cold. In the case of a two-outcome event, such as spam and ham, the weighted and unweighted kappa statistics will be identical.
The
kappa2() function in the Inter-Rater Reliability (irr) package can be used to calculate kappa from the vectors of predicted and actual values stored in a data frame. After installing the package using the install.packages("irr") command, the following commands can be used to obtain kappa:> kappa2(sms_results[1:2])
Cohen's Kappa for 2 Raters (Weights: unweighted)
Subjects = 1390
Raters = 2
Kappa = 0.883
z = 33
p-value = 0
Finding a useful classifier often involves a balance between predictions that are overly conservative and overly aggressive. For example, an e-mail filter could guarantee to eliminate every spam message by aggressively eliminating nearly every ham message at the same time. On the other hand, guaranteeing that no ham message is inadvertently filtered might require us to allow an unacceptable amount of spam to pass through the filter. A pair of performance measures captures this tradeoff: sensitivity and specificity.
The sensitivity of a model (also called the true positive rate) measures the proportion of positive examples that were correctly classified. Therefore, as shown in the following formula, it is calculated as the number of true positives divided by the total number of positives, both correctly classified (the true positives) as well as incorrectly classified (the false negatives):
The specificity of a model (also called the true negative rate) measures the proportion of negative examples that were correctly classified. As with sensitivity, this is computed as the number of true negatives, divided by the total number of negatives—the true negatives plus the false positives:
Given the confusion matrix for the SMS classifier, we can easily calculate these measures by hand. Assuming that spam is the positive class, we can confirm that the numbers in the
confusionMatrix() output are correct. For example, the calculation for sensitivity is:> sens <- 152 / (152 + 31)
> sens
[1] 0.8306011
Similarly, for specificity we can calculate:
> spec <- 1203 / (1203 + 4)
> spec
[1] 0.996686
The
caret package provides functions to calculate sensitivity and specificity directly from the vectors of predicted and actual values. Be careful that you specify the positive or negative parameter appropriately, as shown in the following lines:> library(caret)
> sensitivity(sms_results$predict_type, sms_results$actual_type,
positive = "spam")
[1] 0.8306011
> specificity(sms_results$predict_type, sms_results$actual_type,
negative = "ham")
[1] 0.996686
Sensitivity and specificity range from 0 to 1, with values close to 1 being more desirable. Of course, it is important to find an appropriate balance between the two—a task that is often quite context-specific.
For example, in this case, the sensitivity of 0.831 implies that 83.1 percent of the spam messages were correctly classified. Similarly, the specificity of 0.997 implies that 99.7 percent of the nonspam messages were correctly classified or, alternatively, 0.3 percent of the valid messages were rejected as spam. The idea of rejecting 0.3 percent of valid SMS messages may be unacceptable, or it may be a reasonable trade-off given the reduction in spam.
Sensitivity and specificity provide tools for thinking about such trade-offs. Typically, changes are made to the model and different models are tested until you find one that meets a desired sensitivity and specificity threshold. Visualizations, such as those discussed later in this chapter, can also assist with understanding the trade-off between sensitivity and specificity.
Closely related to sensitivity and specificity are two other performance measures related to compromises made in classification: precision and recall. Used primarily in the context of information retrieval, these statistics are intended to provide an indication of how interesting and relevant a model's results are, or whether the predictions are diluted by meaningless noise.
The precision (also known as the positive predictive value) is defined as the proportion of positive examples that are truly positive; in other words, when a model predicts the positive class, how often is it correct? A precise model will only predict the positive class in cases that are very likely to be positive. It will be very trustworthy.
Consider what would happen if the model was very imprecise. Over time, the results would be less likely to be trusted. In the context of information retrieval, this would be similar to a search engine such as Google returning unrelated results. Eventually, users would switch to a competitor like Bing. In the case of the SMS spam filter, high precision means that the model is able to carefully target only the spam while ignoring the ham.
On the other hand, recall is a measure of how complete the results are. As shown in the following formula, this is defined as the number of true positives over the total number of positives. You may have already recognized this as the same as sensitivity. However, in this case, the interpretation differs slightly. A model with a high recall captures a large portion of the positive examples, meaning that it has wide breadth. For example, a search engine with a high recall returns a large number of documents pertinent to the search query. Similarly, the SMS spam filter has a high recall if the majority of spam messages are correctly identified.
We can calculate precision and recall from the confusion matrix. Again, assuming that
spam is the positive class, the precision is:> prec <- 152 / (152 + 4)
> prec
[1] 0.974359
The recall is:
> rec <- 152 / (152 + 31)
> rec
[1] 0.8306011
The
caret package can be used to compute either of these measures from the vectors of predicted and actual classes. Precision uses the posPredValue() function:> library(caret)
> posPredValue(sms_results$predict_type, sms_results$actual_type,
positive = "spam")
[1] 0.974359
While recall uses the
sensitivity() function that we used earlier:> sensitivity(sms_results$predict_type, sms_results$actual_type,
positive = "spam")
[1] 0.8306011
Similar to the inherent trade-off between sensitivity and specificity, for most of the real-world problems, it is difficult to build a model with both high precision and high recall. It is easy to be precise if you target only the low-hanging fruit—the easy to classify examples. Similarly, it is easy for a model to have high recall by casting a very wide net, meaning that the model is overly aggressive in identifying the positive cases. In contrast, having both high precision and recall at the same time is very challenging. It is therefore important to test a variety of models in order to find the combination of precision and recall that will meet the needs of your project.
A measure of model performance that combines precision and recall into a single number is known as the F-measure (also sometimes called the F1 score or F-score). The F-measure combines precision and recall using the harmonic mean, a type of average that is used for rates of change. The harmonic mean is used rather than the common arithmetic mean since both precision and recall are expressed as proportions between zero and one, which can be interpreted as rates. The following is the formula for the F-measure:
To calculate the F-measure, use the precision and recall values computed previously:
> f <- (2 * prec * rec) / (prec + rec)
> f
[1] 0.8967552
This comes out exactly the same as using the counts from the confusion matrix:
> f <- (2 * 152) / (2 * 152 + 4 + 31)
> f
[1] 0.8967552
Since the F-measure describes the model performance in a single number, it provides a convenient way to compare several models side by side. However, this assumes that equal weight should be assigned to precision and recall, an assumption that is not always valid. It is possible to calculate F-scores using different weights for precision and recall, but choosing the weights could be tricky at the best and arbitrary at worst. A better practice is to use measures such as the F-score in combination with methods that consider a model's strengths and weaknesses more globally, such as those described in the next section.
Visualizations are helpful to understand the performance of machine learning algorithms in greater detail. Where statistics such as sensitivity and specificity or precision and recall attempt to boil model performance down to a single number, visualizations depict how a learner performs across a wide range of conditions.
Because learning algorithms have different biases, it is possible that two models with similar accuracy could have drastic differences in how they achieve their accuracy. Some models may struggle with certain predictions that others make with ease, while breezing through the cases that others cannot get right. Visualizations provide a method to understand these trade-offs, by comparing learners side by side in a single chart.
The
ROCR package provides an easy-to-use suite of functions for visualizing for visualizing the performance of classification models. It includes functions for computing large set of the most common performance measures and visualizations. The ROCR website at http://rocr.bioinf.mpi-sb.mpg.de/ includes a list of the full set of features as well as several examples on visualization capabilities. Before continuing, install the package using the install.packages("ROCR") command.Tip
For more information on the development of ROCR, see : Sing T, Sander O, Beerenwinkel N, Lengauer T. ROCR: visualizing classifier performance in R. Bioinformatics. 2005; 21:3940-3941.
To create visualizations with
ROCR, two vectors of data are needed. The first must contain the predicted class values, and the second must contain the estimated probability of the positive class. These are used to create a prediction object that can be examined with the plotting functions of ROCR.
The prediction object for the SMS classifier requires the classifier's estimated spam probabilities and the actual class labels. These are combined using the
prediction() function in the following lines:> library(ROCR)
> pred <- prediction(predictions = sms_results$prob_spam,
labels = sms_results$actual_type)
Next, the
performance() function will allow us to compute measures of performance from the prediction object we just created, which can then be visualized using the R plot() function. Given these three steps, a large variety of useful visualizations can be created.
The Receiver Operating Characteristic (ROC) curve is commonly used to examine the trade-off between the detection of true positives, while avoiding the false positives. As you might suspect from the name, ROC curves were developed by engineers in the field of communications. Around the time of World War II, radar and radio operators used ROC curves to measure a receiver's ability to discriminate between true signals and false alarms. The same technique is useful today to visualize the efficacy of machine learning models.
The characteristics of a typical ROC diagram are depicted in the following plot. Curves are defined on a plot with the proportion of true positives on the vertical axis and the proportion of false positives on the horizontal axis. Because these values are equivalent to sensitivity and (1 – specificity), respectively, the diagram is also known as a sensitivity/specificity plot:
The points comprising ROC curves indicate the true positive rate at varying false positive thresholds. To create the curves, a classifier's predictions are sorted by the model's estimated probability of the positive class, with the largest values first. Beginning at the origin, each prediction's impact on the true positive rate and false positive rate will result in a curve tracing vertically (for a correct prediction) or horizontally (for an incorrect prediction).
To illustrate this concept, three hypothetical classifiers are contrasted in the previous plot. First, the diagonal line from the bottom-left to the top-right corner of the diagram represents a classifier with no predictive value. This type of classifier detects true positives and false positives at exactly the same rate, implying that the classifier cannot discriminate between the two. This is the baseline by which other classifiers may be judged. ROC curves falling close to this line indicate models that are not very useful. The perfect classifier has a curve that passes through the point at a 100 percent true positive rate and 0 percent false positive rate. It is able to correctly identify all of the positives before it incorrectly classifies any negative result. Most real-world classifiers are similar to the test classifier and they fall somewhere in the zone between perfect and useless.
The closer the curve is to the perfect classifier, the better it is at identifying positive values. This can be measured using a statistic known as the area under the ROC curve (abbreviated AUC). The AUC treats the ROC diagram as a two-dimensional square and measures the total area under the ROC curve. AUC ranges from 0.5 (for a classifier with no predictive value) to 1.0 (for a perfect classifier). A convention to interpret AUC scores uses a system similar to academic letter grades:
- A: Outstanding = 0.9 to 1.0
- B: Excellent/good = 0.8 to 0.9
- C: Acceptable/fair = 0.7 to 0.8
- D: Poor = 0.6 to 0.7
- E: No discrimination = 0.5 to 0.6
As with most scales similar to this, the levels may work better for some tasks than others; the categorization is somewhat subjective.
Tip
It's also worth noting that two ROC curves may be shaped very differently, yet have an identical AUC. For this reason, an AUC alone can be misleading. The best practice is to use AUC in combination with qualitative examination of the ROC curve.
Creating ROC curves with the
ROCR package involves building a performance object from the prediction object we computed earlier. Since ROC curves plot true positive rates versus false positive rates, we simply call the performance() function while specifying the tpr and fpr measures, as shown in the following code:> perf <- performance(pred, measure = "tpr", x.measure = "fpr")
Using the
perf object, we can visualize the ROC curve with R's plot() function. As shown in the following code lines, many of the standard parameters to adjust the visualization can be used, such as main(to add a title), col (to change the line color), and lwd (to adjust the line width):> plot(perf, main = "ROC curve for SMS spam filter",
col = "blue", lwd = 3)
Although the
plot() command is sufficient to create a valid ROC curve, it is helpful to add a reference line to indicate the performance of a classifier with no predictive value.
To plot such a line, we'll use the
abline() function. This function can be used to specify a line in the slope-intercept form, where a is the intercept and b is the slope. Since we need an identity line that passes through the origin, we'll set the intercept to a=0 and the slope to b=1, as shown in the following plot. The lwd parameter adjusts the line thickness, while the lty parameter adjusts the type of line. For example, lty = 2 indicates a dashed line:> abline(a = 0, b = 1, lwd = 2, lty = 2)
The end result is an ROC plot with a dashed reference line:
Qualitatively, we can see that this ROC curve appears to occupy the space at the top-left corner of the diagram, which suggests that it is closer to a perfect classifier than the dashed line representing a useless classifier. To confirm this quantitatively, we can use the ROCR package to calculate the AUC. To do so, we first need to create another
performance object, this time specifying measure = "auc" as shown in the following code:> perf.auc <- performance(pred, measure = "auc")
Since
perf.auc is an R object (specifically known as an S4 object), we need to use a special type of notation to access the values stored within. S4 objects hold information in positions known as slots. The str()function can be used to see all of an object's slots:> str(perf.auc)
Formal class 'performance' [package "ROCR"] with 6 slots
..@ x.name : chr "None"
..@ y.name : chr "Area under the ROC curve"
..@ alpha.name : chr "none"
..@ x.values : list()
..@ y.values :List of 1
.. ..$ : num 0.984
..@ alpha.values: list()
Notice that slots are prefixed with the
@ symbol. To access the AUC value, which is stored as a list in the y.values slot, we can use the @ notation along with the unlist() function, which simplifies lists to a vector of numeric values:> unlist(perf.auc@y.values)
[1] 0.9835862
The AUC for the SMS classifier is 0.98, which is extremely high. But how do we know whether the model is just as likely to perform well for another dataset? In order to answer such questions, we need to have a better understanding of how far we can extrapolate a model's predictions beyond the test data.
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