Related papers: IPC: Incremental Probabilistic Consensus-based Con…

The simultaneous orthogonal matching pursuit (SOMP) algorithm aims to find the joint support of a set of sparse signals acquired under a multiple measurement vector model. Critically, the analysis of SOMP depends on the maximal inner…

Optimizing Large Language Model (LLM) performance requires well-crafted prompts, but manual prompt engineering is labor-intensive and often ineffective. Automated prompt optimization techniques address this challenge but the majority of…

The Projection Congruent Subset (PCS) Outlyingness is a new index of multivariate outlyingness obtained by considering univariate projections of the data. Like many other outlier detection procedures, PCS searches for a subset which…

This paper proposes an Adaptive Stochastic Model Predictive Control (MPC) strategy for stable linear time-invariant systems in the presence of bounded disturbances. We consider multi-input, multi-output systems that can be expressed by a…

This paper presents a method for robust optimization for online incremental Simultaneous Localization and Mapping (SLAM). Due to the NP-Hardness of data association in the presence of perceptual aliasing, tractable (approximate) approaches…

This paper introduces an efficient sparse recovery approach for Polynomial Chaos (PC) expansions, which promotes the sparsity by breaking the dimensionality of the problem. The proposed algorithm incrementally explores sub-dimensional…

Rigid registration of multi-view and multi-platform LiDAR scans is a fundamental problem in 3D mapping, robotic navigation, and large-scale urban modeling applications. Data acquisition with LiDAR sensors involves scanning multiple areas…

In this paper, we consider the problem of planar graph-based simultaneous localization and mapping (SLAM) that involves both poses of the autonomous agent and positions of observed landmarks. We present CPL-SLAM, an efficient and…

LiDAR-based localization and SLAM often rely on iterative matching algorithms, particularly the Iterative Closest Point (ICP) algorithm, to align sensor data with pre-existing maps or previous scans. However, ICP is prone to errors in…

Pose Graph Optimization involves the estimation of a set of poses from pairwise measurements and provides a formalization for many problems arising in mobile robotics and geometric computer vision. In this paper, we consider the case in…

Map based visual inertial localization is a crucial step to reduce the drift in state estimation of mobile robots. The underlying problem for localization is to estimate the pose from a set of 3D-2D feature correspondences, of which the…

Proximal policy optimization (PPO) has yielded state-of-the-art results in policy search, a subfield of reinforcement learning, with one of its key points being the use of a surrogate objective function to restrict the step size at each…

We propose and analyze an inexact gradient method based on incremental proper orthogonal decomposition (iPOD) to address the data storage difficulty in time-dependent PDE-constrained optimization, particularly for a data assimilation…

A fundamental challenge in model-based offline reinforcement learning (RL) lies in the trade-off between generalization and robustness against exploitation errors in out-of-distribution (OOD) regions. While OOD samples may capture valid…

While reinforcement learning has advanced the alignment of text-to-image (T2I) models, state-of-the-art policy gradient methods are still hampered by training instability and high variance, hindering convergence speed and compromising image…

The Iterative Closest Point (ICP) algorithm is one of the most important algorithms for geometric alignment of three-dimensional surface registration, which is frequently used in computer vision tasks, including the Simultaneous…

Accurate localization is essential for autonomous driving, but GNSS-based methods struggle in challenging environments such as urban canyons. Cross-view pose optimization offers an effective solution by directly estimating vehicle pose…

We introduce Parametric Density Path Optimization (PDPO), a novel method for computing action-minimizing paths between probability densities. The core idea is to represent the target probability path as the pushforward of a reference…

The steep dose gradients obtained with pencil beam scanning allow for precise tumor targeting at the cost of high sensitivity to uncertainties. Robust optimization is commonly applied to mitigate uncertainties in density and patient setup,…

Automated hyperparameter optimization (HPO) can support practitioners to obtain peak performance in machine learning models. However, there is often a lack of valuable insights into the effects of different hyperparameters on the final…