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

Quantification of uncertainty in point cloud matching is critical in many tasks such as pose estimation, sensor fusion, and grasping. Iterative closest point (ICP) is a commonly used pose estimation algorithm which provides a point estimate…

Ego-localization is a crucial task for autonomous vehicles. On the one hand, it needs to be very accurate, and on the other hand, very robust to provide reliable pose (position and orientation) information, even in challenging environments.…

At the forefront of state-of-the-art human alignment methods are preference optimization methods (*PO). Prior research has often concentrated on identifying the best-performing method, typically involving a grid search over hyperparameters,…

Proximal Policy Optimization (PPO) dominates reinforcement learning and LLM alignment but relies on a "hard clipping" mechanism that discards valuable gradients. Conversely, unconstrained methods like SPO expose the optimization to…

Safe Reinforcement Learning (RL) often faces significant issues such as constraint violations and instability, necessitating the use of constrained policy optimization, which seeks optimal policies while ensuring adherence to specific…

Direct Preference Optimization (DPO) has emerged as a promising approach for aligning large language models with human preferences. While prior work mainly extends DPO from the aspect of the objective function, we instead improve DPO from…

Importance sampling (IS) represents a fundamental technique for a large surge of off-policy reinforcement learning approaches. Policy gradient (PG) methods, in particular, significantly benefit from IS, enabling the effective reuse of…

Implicit Neural Point Cloud (INPC) is a recent hybrid representation that combines the expressiveness of neural fields with the efficiency of point-based rendering, achieving state-of-the-art image quality in novel view synthesis. However,…

To reduce the human intervention in the preference measure process,this article proposes a preference collaborative measure framework based on an updated belief system,which is also capable of improving the accuracy and efficiency of…

Absolute pose estimation is a fundamental problem in computer vision, and it is a typical parameter estimation problem, meaning that efforts to solve it will always suffer from outlier-contaminated data. Conventionally, for a fixed…

Optimising the major next-generation cosmological surveys (such as {\em SNAP, KAOS etc...}) is a key problem given our ignorance of the physics underlying cosmic acceleration and the plethora of surveys planned. We propose a Bayesian design…

The Combined Algorithm Selection and Hyperparameter Optimization (CASH) problem is fundamental in Automated Machine Learning (AutoML). Inspired by the success of ensemble learning, recent AutoML systems construct post-hoc ensembles for…

Spectral clustering is a popular method for effectively clustering nonlinearly separable data. However, computational limitations, memory requirements, and the inability to perform incremental learning challenge its widespread application.…

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…

A coherent Ising machine (CIM) is a network of optical parametric oscillators (OPOs), in which the "strongest" collective mode of oscillation at well above threshold corresponds to an optimum solution of a given Ising problem. When a pump…

In this paper, we propose a novel unsupervised color constancy method, called Probabilistic Color Constancy (PCC). We define a framework for estimating the illumination of a scene by weighting the contribution of different image regions…

The maximum clique problem, a well-known graph-based combinatorial optimization problem, has been addressed through various algorithmic approaches, though systematic analyses of the problem instances remain sparse. This study employs the…

This paper proposes a grouped pattern (GP) for sensing signals and a corresponding multi-periodogram algorithm for range estimation in integrated sensing and communications (ISAC) systems. GP partitions subcarriers into groups with an…

Maximum likelihood estimation (MLE) is a well-known estimation method used in many robotic and computer vision applications. Under Gaussian assumption, the MLE converts to a nonlinear least squares (NLS) problem. Efficient solutions to NLS…

For a large class of orthogonal basis functions, there has been a recent identification of expansion methods for computing accurate, stable approximations of a quantity of interest. This paper presents, within the context of uncertainty…