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I can see lots of paper mentioning they selected some parameters like regularization parameter $\lambda$ by cross validation. What do they mean by that?

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Optimal values for things like regularization parameters cannot (always) be computed in advance. Often, we are forced to pick a value and see what happens (e.g. train a model with a given value and assess its performance).

Cross-validation is a very popular method to test the performance for a given value of the parameter $\lambda$. The value which yields the best cross-validation performance is then selected.

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