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In the machine learning field, dimensionality reduction is an important task. It mitigates the undesired properties of high-dimensional spaces to facilitate classification, compression, and visualization of high-dimensional data. During the…
This paper investigates the use of a sampling-based approach, the RRT*, to reconfigure a 2D set of connected tiles in complex environments, where multiple obstacles might be present. Since the target application is automated building of…
One fundamental goal of high-dimensional statistics is to detect or recover planted structure (such as a low-rank matrix) hidden in noisy data. A growing body of work studies low-degree polynomials as a restricted model of computation for…
In the usual trace reconstruction problem, the goal is to exactly reconstruct an unknown string of length $n$ after it passes through a deletion channel many times independently, producing a set of traces (i.e., random subsequences of the…
We study the problem of recovering an incomplete $m\times n$ matrix of rank $r$ with columns arriving online over time. This is known as the problem of life-long matrix completion, and is widely applied to recommendation system, computer…
In this paper, we consider the problem of partitioning a polygon into a set of connected disjoint sub-polygons, each of which covers an area of a specific size. The work is motivated by terrain covering applications in robotics, where the…
This paper develops new theory and algorithms to recover signals that are approximately sparse in some general dictionary (i.e., a basis, frame, or over-/incomplete matrix) but corrupted by a combination of interference having a sparse…
Reachable set computation is an important tool for analyzing control systems. Simulating a control system can show general trends, but a formal tool like reachability analysis can provide guarantees of correctness. Reachability analysis for…
Large-scale data collections in the wild, are invariably noisy. Thus developing data pruning strategies that remain robust even in the presence of corruption is critical in practice. In this work, we propose Geometric Median ($\gm$)…
Median filtering is a non-linear smoothing technique widely used in digital image processing to remove noise while retaining sharp edges. It is particularly well suited to removing outliers (impulse noise) or granular artifacts (speckle…
Time domain terahertz spectroscopy typically uses mechanical delay stages that inherently suffer from non-uniform sampling positions. We review, simulate, and experimentally test the ability of corrective cubic spline and Shannon…
Noise is a part of data whether the data is from measurement, experiment or ... A few techniques are suggested for noise reduction to improve the data quality in recent years some of which are based on wavelet, orthogonalization and neural…
The problem of clustering noisy and incompletely observed high-dimensional data points into a union of low-dimensional subspaces and a set of outliers is considered. The number of subspaces, their dimensions, and their orientations are…
Reconstruction of undersampled periodic signals of unknown period is an important signal processing operation. It is especially difficult operation when the sequences of samples are short and no information on the inter-sequence time…
Traditional stereo algorithms have focused their efforts on reconstruction quality and have largely avoided prioritizing for run time performance. Robots, on the other hand, require quick maneuverability and effective computation to observe…
Given the lidar measurements from an autonomous vehicle, we can project the points and generate a sparse depth image. Depth completion aims at increasing the resolution of such a depth image by infilling and interpolating the sparse depth…
The Calisson puzzle is a tiling puzzle in which one must tile a triangular grid inside a hexagon with lozenges, under the constraint that certain prescribed edges remain tile boundaries and that adjacent lozenges along these edges have…
Network pruning can reduce the high computation cost of deep neural network (DNN) models. However, to maintain their accuracies, sparse models often carry randomly-distributed weights, leading to irregular computations. Consequently, sparse…
Depth estimation is a cornerstone of a vast number of applications requiring 3D assessment of the environment, such as robotics, augmented reality, and autonomous driving to name a few. One prominent technique for depth estimation is stereo…
In the Traveling Salesperson Problem with Neighborhoods (TSPN), we are given a collection of geometric regions in some space. The goal is to output a tour of minimum length that visits at least one point in each region. Even in the…