Related papers: NF-iSAM: Incremental Smoothing and Mapping via Nor…
Flow matching (FM) is a family of training algorithms for fitting continuous normalizing flows (CNFs). Conditional flow matching (CFM) exploits the fact that the marginal vector field of a CNF can be learned by fitting least-squares…
Proper regularization is crucial in inverse problems to achieve high-quality reconstruction, even with an ill-conditioned measurement system. This is particularly true for three-dimensional photoacoustic tomography, which is computationally…
In this paper, we propose a score-based normalizing flow method called DAG-NF to learn dependencies of input observation data. Inspired by Grad-CAM in computer vision, we use jacobian matrix of output on input as causal relationships and…
Eye feature extraction from event-based data streams can be performed efficiently and with low energy consumption, offering great utility to real-world eye tracking pipelines. However, few eye feature extractors are designed to handle…
Gaussian smoothing (GS) is a derivative-free optimization (DFO) algorithm that estimates the gradient of an objective using perturbations of the current parameters sampled from a standard normal distribution. We generalize it to sampling…
Simultaneous localization and mapping (SLAM) plays a vital role in mapping unknown spaces and aiding autonomous navigation. Virtually all state-of-the-art solutions today for 2D SLAM are designed for dense and accurate sensors such as laser…
Normalizing Flows (NF) are powerful likelihood-based generative models that are able to trade off between expressivity and tractability to model complex densities. A now well established research avenue leverages optimal transport (OT) and…
Sharpness-aware Minimization (SAM) improves generalization in large-scale model training by linking loss landscape geometry to generalization. However, challenges such as mislabeled noisy data and privacy concerns have emerged as…
The smoothing issue in graph learning leads to indistinguishable node representations, posing significant challenges for graph-related tasks. However, our experiments reveal that this problem can uncover underlying properties of node…
The spread of machine learning techniques coupled with the availability of high-quality experimental and numerical data has significantly advanced numerous applications in fluid mechanics. Notable among these are the development of data…
Contextual optimization enhances decision quality by leveraging side information to improve predictions of uncertain parameters. However, existing approaches face significant challenges when dealing with multimodal or mixtures of…
In the paper, we develop an ensemble-based implicit sampling method for Bayesian inverse problems. For Bayesian inference, the iterative ensemble smoother (IES) and implicit sampling are integrated to obtain importance ensemble samples,…
Fueled by the expressive power of deep neural networks, normalizing flows have achieved spectacular success in generative modeling, or learning to draw new samples from a distribution given a finite dataset of training samples. Normalizing…
Normalizing flows model complex probability distributions by combining a base distribution with a series of bijective neural networks. State-of-the-art architectures rely on coupling and autoregressive transformations to lift up invertible…
Many patch-based image denoising algorithms can be formulated as applying a smoothing filter to the noisy image. Expressed as matrices, the smoothing filters must be row normalized so that each row sums to unity. Surprisingly, if we apply a…
There are proposals that extend the classical generalized additive models (GAMs) to accommodate high-dimensional data ($p>>n$) using group sparse regularization. However, the sparse regularization may induce excess shrinkage when estimating…
In this paper, we introduce FMapping, an efficient neural field mapping framework that facilitates the continuous estimation of a colorized point cloud map in real-time dense RGB SLAM. To achieve this challenging goal without depth, a…
We propose SNI-SLAM, a semantic SLAM system utilizing neural implicit representation, that simultaneously performs accurate semantic mapping, high-quality surface reconstruction, and robust camera tracking. In this system, we introduce…
Current Simultaneous Localization and Mapping (SLAM) methods based on Neural Radiance Fields (NeRF) or 3D Gaussian Splatting excel in reconstructing static 3D scenes but struggle with tracking and reconstruction in dynamic environments,…
When the input signal is correlated input signals, and the input and output signal is contaminated by Gaussian noise, the total least squares normalized subband adaptive filter (TLS-NSAF) algorithm shows good performance. However, when it…