Related papers: Stein Variational Ergodic Surface Coverage with SE…

We propose and analyze several stochastic gradient algorithms for finding stationary points or local minimum in nonconvex, possibly with nonsmooth regularizer, finite-sum and online optimization problems. First, we propose a simple proximal…

We present a new class of stochastic, geometrically-driven optimization algorithms on the orthogonal group $O(d)$ and naturally reductive homogeneous manifolds obtained from the action of the rotation group $SO(d)$. We theoretically and…

One of the most common methods to train machine learning algorithms today is the stochastic gradient descent (SGD). In a distributed setting, SGD-based algorithms have been shown to converge theoretically under specific circumstances. A…

Safe path planning is a crucial component in autonomous robotics. The many approaches to find a collision free path can be categorically divided into trajectory optimisers and sampling-based methods. When planning using occupancy maps, the…

Stochastic Gradient (SG) is the defacto iterative technique to solve stochastic optimization (SO) problems with a smooth (non-convex) objective $f$ and a stochastic first-order oracle. SG's attractiveness is due in part to its simplicity of…

We study nonlinearly preconditioned gradient methods for smooth nonconvex optimization problems, focusing on sigmoid preconditioners that inherently perform a form of gradient clipping akin to the widely used gradient clipping technique.…

Scene Graph Generation is a critical enabler of environmental comprehension for autonomous robotic systems. Most of existing methods, however, are often thwarted by the intricate dynamics of background complexity, which limits their ability…

Task-oriented dexterous grasping remains challenging in robotic manipulations of open-world objects under severe partial observation, where significant missing data invalidates generic shape completion. In this paper, to overcome this…

In this work, we propose a trajectory optimization approach for robot navigation in cluttered 3D environments. We represent the robot's geometry as a semialgebraic set defined by polynomial inequalities such that robots with general shapes…

Designing continuous trajectories whose time-averaged occupancy provably matches a prescribed spatial density (the \emph{ergodic coverage} problem) is central to UAV-assisted data collection and sensing, robotic exploration, and mobile…

Traditional preamble detection algorithms have low accuracy in the grant-based random access scheme in massive machine-type communication (mMTC). We present a novel preamble detection algorithm based on Stein variational gradient descent…

The stochastic gradient descent (SGD) method is a widely used approach for solving stochastic optimization problems, but its convergence is typically slow. Existing variance reduction techniques, such as SAGA, improve convergence by…

Deep neural networks for 3D point cloud understanding have achieved remarkable success in object classification and recognition, yet recent work shows that these models remain highly vulnerable to adversarial perturbations. Existing 3D…

This paper presents a geometric control framework on the Lie group SO(3) for 3D source-seeking by robots with first-order attitude dynamics and constant translational speed. By working directly on SO(3), the approach avoids Euler-angle…

The low-rank matrix recovery problem seeks to reconstruct an unknown $n_1 \times n_2$ rank-$r$ matrix from $m$ linear measurements, where $m\ll n_1n_2$. This problem has been extensively studied over the past few decades, leading to a…

Trajectory optimization (TO) aims to find a sequence of valid states while minimizing costs. However, its fine validation process is often costly due to computationally expensive collision searches, otherwise coarse searches lower the…

Real-world robotic grasping can be done robustly if a complete 3D Point Cloud Data (PCD) of an object is available. However, in practice, PCDs are often incomplete when objects are viewed from few and sparse viewpoints before the grasping…

Particle-based approximate Bayesian inference approaches such as Stein Variational Gradient Descent (SVGD) combine the flexibility and convergence guarantees of sampling methods with the computational benefits of variational inference. In…

Orientation learning plays a pivotal role in many tasks. However, the rotation group SO(3) is a Riemannian manifold. As a result, the distortion caused by non-Euclidean geometric nature introduces difficulties to the incorporation of local…

Symmetric orthogonalization via SVD, and closely related procedures, are well-known techniques for projecting matrices onto $O(n)$ or $SO(n)$. These tools have long been used for applications in computer vision, for example optimal 3D…