Related papers: Structure-adaptive manifold estimation

We study the problem of estimating an unknown function from noisy data using shallow ReLU neural networks. The estimators we study minimize the sum of squared data-fitting errors plus a regularization term proportional to the squared…

Many of the tools available for robot learning were designed for Euclidean data. However, many applications in robotics involve manifold-valued data. A common example is orientation; this can be represented as a 3-by-3 rotation matrix or a…

We reconstruct a closed denoised curve from an unstructured and highly noisy 2D point cloud. Our proposed method uses a two- pass approach: Previously recovered manifold connectivity is used for ordering noisy samples along this manifold…

In this paper we introduce an adaptive cost function for pointcloud registration. The algorithm automatically estimates the sensor noise, which is important for generalization across different sensors and environments. Through experiments…

This paper studies distributed estimation and support recovery for high-dimensional linear regression model with heavy-tailed noise. To deal with heavy-tailed noise whose variance can be infinite, we adopt the quantile regression loss…

We consider the problem of estimating convex boundaries from blurred and noisy observations. In our model, the convolution of an intensity function $f$ is observed with additive Gaussian white noise. The function $f$ is assumed to have…

We propose a surface fitting method for unstructured 3D point clouds. This method, called DeepFit, incorporates a neural network to learn point-wise weights for weighted least squares polynomial surface fitting. The learned weights act as a…

This paper reports the design of a high-accuracy spatial location estimation method using ultrasound waves by exploiting the fixed geometry of the transmitters. Assuming an isosceles triangle antenna configuration, where three antennas are…

We consider unregularized robust M-estimators for linear models under Gaussian design and heavy-tailed noise, in the proportional asymptotics regime where the sample size n and the number of features p are both increasing such that $p/n \to…

Given dense image feature correspondences of a non-rigidly moving object across multiple frames, this paper proposes an algorithm to estimate its 3D shape for each frame. To solve this problem accurately, the recent state-of-the-art…

In this paper a new smooth backfitting estimate is proposed for additive regression models. The estimate has the simple structure of Nadaraya--Watson smooth backfitting but at the same time achieves the oracle property of local linear…

We propose a robust and scalable procedure for general optimization and inference problems on manifolds leveraging the classical idea of `median-of-means' estimation. This is motivated by ubiquitous examples and applications in modern data…

In these pedagogic notes I review the statistical mechanics approach to neural networks, focusing on the paradigmatic example of the perceptron architecture with binary an continuous weights, in the classification setting. I will review the…

The goal of ordinal embedding is to represent items as points in a low-dimensional Euclidean space given a set of constraints in the form of distance comparisons like "item $i$ is closer to item $j$ than item $k$". Ordinal constraints like…

The inclusion of a macroscopic adaptive threshold is studied for the retrieval dynamics of both layered feedforward and fully connected neural network models with synaptic noise. These two types of architectures require a different method…

Point cloud data are widely used in manufacturing applications for process inspection, modeling, monitoring and optimization. The state-of-art tensor regression techniques have effectively been used for analysis of structured point cloud…

Suppose that we observe noisy linear measurements of an unknown signal that can be modeled as the sum of two component signals, each of which arises from a nonlinear sub-manifold of a high dimensional ambient space. We introduce SPIN, a…

The problem of identifying geometric structure in data is a cornerstone of (unsupervised) learning. As a result, Geometric Representation Learning has been widely applied across scientific and engineering domains. In this work, we…

We consider stochastic zeroth-order optimization over Riemannian submanifolds embedded in Euclidean space, where the task is to solve Riemannian optimization problem with only noisy objective function evaluations. Towards this, our main…

Stochastic Gradient Langevin Dynamics infuses isotropic gradient noise to SGD to help navigate pathological curvature in the loss landscape for deep networks. Isotropic nature of the noise leads to poor scaling, and adaptive methods based…