Related papers: An averaged projected Robbins-Monro algorithm for …

In this paper, we propose a normal estimation method for unstructured 3D point clouds. This method, called Nesti-Net, builds on a new local point cloud representation which consists of multi-scale point statistics (MuPS), estimated on a…

A 3-D inverse medium problem in the frequency domain is considered. Another name for this problem is Coefficient Inverse Problem. The goal is to reconstruct spatially distributed dielectric constants from scattering data. Potential…

In this two-part work, we propose an algorithmic framework for solving non-convex problems whose objective function is the sum of a number of smooth component functions plus a convex (possibly non-smooth) or/and smooth (possibly non-convex)…

We present a robust refinement method for estimating oriented normals from unstructured point clouds. In contrast to previous approaches that either suffer from high computational complexity or fail to achieve desirable accuracy, our novel…

$\renewcommand{\Re}{\mathbb{R}}$ We develop a general randomized technique for solving "implic it" linear programming problems, where the collection of constraints are defined implicitly by an underlying ground set of elements. In many…

We revisit the classical problem of estimating an unknown distribution from its samples by fitting a mixture model that minimizes cross-entropy loss. Framing the task as a stochastic convex optimization problem over the space of $ M…

A variety of problems in distributed control involve a networked system of autonomous agents cooperating to carry out some complex task in a decentralized fashion, e.g., orienting a flock of drones, or aggregating data from a network of…

In directional statistics, the von Mises-Fisher (vMF) distribution is one of the most basic and popular probability distributions for data on the unit hypersphere. Recently, the spherical normal (SN) distribution was proposed as an…

In this paper, we propose a normal estimation method for unstructured 3D point clouds. In this method, a feature constraint mechanism called Local Plane Features Constraint (LPFC) is used and then a multi-scale selection strategy is…

Reliable manipulation of previously unseen objects remains a fundamental challenge for autonomous robotic systems operating in unstructured environments. In particular, robust pick-and-place planning directly from noisy and only partial…

Two distributed algorithms are described that enable all users connected over a network to cooperatively solve the problem of minimizing the sum of all users' objective functions over the intersection of all users' constraint sets, where…

Parametric stochastic simulators are ubiquitous in science, often featuring high-dimensional input parameters and/or an intractable likelihood. Performing Bayesian parameter inference in this context can be challenging. We present a neural…

We develop a novel sampling theorem on the sphere and corresponding fast algorithms by associating the sphere with the torus through a periodic extension. The fundamental property of any sampling theorem is the number of samples required to…

Clustering is a basic task in data analysis and machine learning, and the optimization of clustering objectives are well-studied optimization problems; amongst these, the $k$-Means objective is arguably the most well known. Given a…

We study the problem of distributed adaptive estimation over networks where nodes cooperate to estimate physical parameters that can vary over both space and time domains. We use a set of basis functions to characterize the space-varying…

We study a new variant of consensus problems, termed `local average consensus', in networks of agents. We consider the task of using sensor networks to perform distributed measurement of a parameter which has both spatial (in this paper 1D)…

We propose a new distributed algorithm for computing a truncated Newton method, where the main diagonal of the Hessian is computed using belief propagation. As a case study for this approach, we examine the sensor selection problem, a…

Estimating unknown rotations from noisy measurements is an important step in SfM and other 3D vision tasks. Typically, local optimization methods susceptible to returning suboptimal local minima are used to solve the rotation averaging…

In this paper, we develop a general theory of truncated inverse binomial sampling. In this theory, the fixed-size sampling and inverse binomial sampling are accommodated as special cases. In particular, the classical Chernoff-Hoeffding…

Importance sampling is a Monte Carlo method which designs estimators of expectations under a target distribution using weighted samples from a proposal distribution. When the target distribution is complex, such as multimodal distributions…