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Diffusion models are effective for waypoint prediction in visual navigation, but standard sampling and test time guidance can produce unreliable or inefficient trajectories when updates drift off the training manifold. We propose Fisher…

Robotics · Computer Science 2026-05-29 Hao Ren , Zetong Bi , Yiming Zeng , Le Zheng , Zhi Li , Zhaoliang Wan , Lu Qi , Hui Cheng

Feedback particle filter (FPF) is a numerical algorithm to approximate the solution of the nonlinear filtering problem in continuous-time settings. In any numerical implementation of the FPF algorithm, the main challenge is to numerically…

Optimization and Control · Mathematics 2019-10-01 Amirhossein Taghvaei , Prashant G. Mehta , Sean P. Meyn

We study the D-optimal Data Fusion (DDF) problem, which aims to select new data points, given an existing Fisher information matrix, so as to maximize the logarithm of the determinant of the overall Fisher information matrix. We show that…

Optimization and Control · Mathematics 2022-08-09 Yongchun Li , Marcia Fampa , Jon Lee , Feng Qiu , Weijun Xie , Rui Yao

Likelihood-based deep generative models such as score-based diffusion models and variational autoencoders are state-of-the-art machine learning models approximating high-dimensional distributions of data such as images, text, or audio. One…

Machine Learning · Statistics 2024-05-28 Sam Dauncey , Chris Holmes , Christopher Williams , Fabian Falck

Generative modeling over discrete data has recently seen numerous success stories, with applications spanning language modeling, biological sequence design, and graph-structured molecular data. The predominant generative modeling paradigm…

Machine Learning · Computer Science 2024-11-01 Oscar Davis , Samuel Kessler , Mircea Petrache , İsmail İlkan Ceylan , Michael Bronstein , Avishek Joey Bose

Score-based methods have recently seen increasing popularity in modeling and generation. Methods have been constructed to perform hypothesis testing and change-point detection with score functions, but these methods are in general not as…

Machine Learning · Statistics 2025-06-23 Sean Moushegian , Taposh Banerjee , Vahid Tarokh

In this paper, we explore provable acceleration of diffusion models without any additional retraining. Focusing on the task of approximating a target data distribution in $\mathbb{R}^d$ to within $\varepsilon$ total-variation distance, we…

Machine Learning · Computer Science 2025-08-14 Gen Li , Yuchen Zhou , Yuting Wei , Yuxin Chen

Denoising diffusion models (DDMs) offer a flexible framework for sampling from high dimensional data distributions. DDMs generate a path of probability distributions interpolating between a reference Gaussian distribution and a data…

Machine Learning · Statistics 2024-12-12 Christopher Williams , Andrew Campbell , Arnaud Doucet , Saifuddin Syed

We investigate the approximation efficiency of score functions by deep neural networks in diffusion-based generative modeling. While existing approximation theories utilize the smoothness of score functions, they suffer from the curse of…

Machine Learning · Computer Science 2023-09-21 Song Mei , Yuchen Wu

Unsupervised learning of feature representations is a challenging yet important problem for analyzing a large collection of multimedia data that do not have semantic labels. Recently proposed neural network-based unsupervised learning…

Computer Vision and Pattern Recognition · Computer Science 2022-11-15 Takahiko Furuya , Ryutarou Ohbuchi

Using the transport-of-intensity approach for free-space optical propagation in the paraxial regime, we show that diffraction is fundamentally related to the Fisher information associated with models of the transverse intensity…

Optics · Physics 2026-01-16 Jonathan M. Nichols , Frank Bucholtz

The fast fashion industry suffers from significant environmental impacts due to overproduction and unsold inventory. Accurately predicting sales volumes for unreleased products could significantly improve efficiency and resource…

Machine Learning · Computer Science 2024-12-11 Andrea Avogaro , Luigi Capogrosso , Franco Fummi , Marco Cristani

Diffusion models achieve state-of-the-art performance in various generation tasks. However, their theoretical foundations fall far behind. This paper studies score approximation, estimation, and distribution recovery of diffusion models,…

Machine Learning · Computer Science 2023-02-15 Minshuo Chen , Kaixuan Huang , Tuo Zhao , Mengdi Wang

This paper studies the original discrete-time denoising diffusion probabilistic model (DDPM) from a probabilistic point of view. We present three main theoretical results. First, we show that the time-dependent score function associated…

Probability · Mathematics 2026-01-13 Yumiharu Nakano

Out-of-distribution (OOD) detection is a crucial task for ensuring the reliability and safety of deep learning. Currently, discriminator models outperform other methods in this regard. However, the feature extraction process used by…

Computer Vision and Pattern Recognition · Computer Science 2023-06-06 Luping Liu , Yi Ren , Xize Cheng , Rongjie Huang , Chongxuan Li , Zhou Zhao

Diffusion or score-based models recently showed high performance in image generation. They rely on a forward and a backward stochastic differential equations (SDE). The sampling of a data distribution is achieved by numerically solving the…

Machine Learning · Computer Science 2025-06-04 Emile Pierret , Bruno Galerne

This paper studies sampling error bounds for denoising diffusion probabilistic models (DDPMs) in the 2-Wasserstein distance. Our contributions are threefold. (i) Under general Lipschitz-type conditions on the score function and for a broad…

Machine Learning · Statistics 2026-05-19 Yuta Koike

This paper investigates score-based diffusion models when the underlying target distribution is concentrated on or near low-dimensional manifolds within the higher-dimensional space in which they formally reside, a common characteristic of…

Machine Learning · Computer Science 2025-01-03 Gen Li , Yuling Yan

Decision-focused learning (DFL) integrates predictive modeling and optimization by training predictors to optimize the downstream decision target rather than merely minimizing prediction error. To date, existing DFL methods typically rely…

Machine Learning · Computer Science 2025-10-14 Zihao Zhao , Christopher Yeh , Lingkai Kong , Kai Wang

Efficient and effective Out-of-Distribution (OOD) detection is essential for the safe deployment of AI systems. Existing feature space methods, while effective, often incur significant computational overhead due to their reliance on…

Machine Learning · Computer Science 2024-06-05 Litian Liu , Yao Qin
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