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Adaptive randomized pivoting (ARP) is a recently proposed and highly effective algorithm for column subset selection. This paper reinterprets the ARP algorithm by drawing connections to the volume sampling distribution and active learning…
Transit agencies that operate on-demand transportation services have to respond to trip requests from passengers in real time, which involves solving dynamic vehicle routing problems with pick-up and drop-off constraints. Based on…
A fundamental problem in robotic perception is matching identical objects or data, with applications such as loop closure detection, place recognition, object tracking, and map fusion. While the problem becomes considerably more challenging…
Multi-object tracking (MOT) is a challenging practical problem for vision based applications. Most recent approaches for MOT use precomputed detections from models such as Faster RCNN, performing fine-tuning of bounding boxes and…
Based on continuously recorded beam positions and corrector excitations from, for example, a closed-orbit feedback system we describe an algorithm that continuously updates an estimate of the orbit response matrix. The speed of convergence…
Automated driving in urban scenarios requires efficient planning algorithms able to handle complex situations in real-time. A popular approach is to use graph-based planning methods in order to obtain a rough trajectory which is…
A common recipe to improve diffusion models at test-time so that samples score highly against a user-specified reward is to introduce the gradient of the reward into the dynamics of the diffusion itself. This procedure is often ill posed,…
To describe vibrationally mediated configuration changes of adsorbates on surfaces we have developed a new theory to calculate both reaction rates and pathways. The method uses the T-matrix to describe excitations of vibrational states by…
This paper introduces an efficient second-order method for solving the elastic net problem. Its key innovation is a computationally efficient technique for injecting curvature information in the optimization process which admits a strong…
Local navigation is one of the fundamental problems in robot navigation, and numerous approaches have been proposed over the years, including methods such as the Dynamic Window Approach, Model Predictive Control, and more recently, Control…
This paper presents a novel backtracking strategy for additive Schwarz methods for general convex optimization problems as an acceleration scheme. The proposed backtracking strategy is independent of local solvers, so that it can be applied…
While recent years have witnessed astonishing improvements in visual tracking robustness, the advancements in tracking accuracy have been limited. As the focus has been directed towards the development of powerful classifiers, the problem…
Described here is a simple, reliable, and quite general method for rapid computation of robot arm inverse kinematic solutions and motion path plans in the presence of complex obstructions. The method derived from the MSC (map-seeking…
We revisit the online dynamic acknowledgment problem. In the problem, a sequence of requests arrive over time to be acknowledged, and all outstanding requests can be satisfied simultaneously by one acknowledgement. The goal of the problem…
Outcome probability estimation via classical methods is an important task for validating quantum computing devices. Outcome probabilities of any quantum circuit can be estimated using Monte Carlo sampling, where the amount of negativity…
We present a new algorithm for estimating the star discrepancy of arbitrary point sets. Similar to the algorithm for discrepancy approximation of Winker and Fang [SIAM J. Numer. Anal. 34 (1997), 2028--2042] it is based on the optimization…
We consider a road network represented by a directed graph. We assume to collect many measurements of traffic flows on all the network arcs, or on a subset of them. We assume that the users are divided into different groups. Each group…
We present a novel method for estimating the circulations and positions of point vortices using trajectory data of passive particles in the presence of Gaussian noise. The method comprises two algorithms: the first one calculates the vortex…
In a Hilbert setting, for convex differentiable optimization, we develop a general framework for adaptive accelerated gradient methods. They are based on damped inertial dynamics where the coefficients are designed in a closed-loop way.…
Safe navigation of cluttered environments is a critical challenge in robotics. It is typically approached by separating the planning and tracking problems, with planning executed on a reduced order model to generate reference trajectories,…