Related papers: SNGR: Selective Non-Gaussian Refinement for Ambigu…

Recent studies have revealed that GNNs are vulnerable to adversarial attacks. To defend against such attacks, robust graph structure refinement (GSR) methods aim at minimizing the effect of adversarial edges based on node features, graph…

We propose an efficient and scalable method for incrementally building a dense, semantically annotated 3D map in real-time. The proposed method assigns class probabilities to each region, not each element (e.g., surfel and voxel), of the 3D…

This paper presents a 3D lidar SLAM system based on improved regionalized Gaussian process (GP) map reconstruction to provide both low-drift state estimation and mapping in real-time for robotics applications. We utilize spatial GP…

We extend HAMMER, a state-of-the-art model for multimodal manipulation detection, to handle global scene inconsistencies such as foreground-background (FG-BG) mismatch. While HAMMER achieves strong performance on the DGM4 dataset, it…

Stochastic gradient methods for machine learning and optimization problems are usually analyzed assuming data points are sampled \emph{with} replacement. In practice, however, sampling \emph{without} replacement is very common, easier to…

We consider the problem of inferring the conditional independence graph (CIG) of high-dimensional Gaussian vectors from multi-attribute data. Most existing methods for graph estimation are based on single-attribute models where one…

We analyze a batched variant of Stochastic Gradient Descent (SGD) with weighted sampling distribution for smooth and non-smooth objective functions. We show that by distributing the batches computationally, a significant speedup in the…

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…

Estimation of Gaussian graphical models is important in natural science when modeling the statistical relationships between variables in the form of a graph. The sparsity and clustering structure of the concentration matrix is enforced to…

We introduce "AnnealSGD", a regularized stochastic gradient descent algorithm motivated by an analysis of the energy landscape of a particular class of deep networks with sparse random weights. The loss function of such networks can be…

We consider the problem of learning a sparse graph underlying an undirected Gaussian graphical model, a key problem in statistical machine learning. Given $n$ samples from a multivariate Gaussian distribution with $p$ variables, the goal is…

Stochastic optimization lies at the core of most statistical learning models. The recent great development of stochastic algorithmic tools focused significantly onto proximal gradient iterations, in order to find an efficient approach for…

Simultaneous Localization and Mapping (SLAM) algorithms perform visual-inertial estimation via filtering or batch optimization methods. Empirical evidence suggests that filtering algorithms are computationally faster, while optimization…

Text as signs, labels, or instructions is a critical element of real-world scenes as they can convey important contextual information. 3D representations such as 3D Gaussian Splatting (3DGS) struggle to preserve fine-grained text details,…

We propose a dense RGBD SLAM system based on 3D Gaussian Splatting that provides metrically accurate pose tracking and visually realistic reconstruction. To this end, we first propose a Gaussian densification strategy based on the rendering…

Spectral clustering (SC) and graph-based semi-supervised learning (SSL) algorithms are sensitive to how graphs are constructed from data. In particular if the data has proximal and unbalanced clusters these algorithms can lead to poor…

Gaussian Graphical Models (GGMs) are popular tools for studying network structures. However, many modern applications such as gene network discovery and social interactions analysis often involve high-dimensional noisy data with outliers or…

Sparse graph recovery methods work well where the data follows their assumptions but often they are not designed for doing downstream probabilistic queries. This limits their adoption to only identifying connections among the input…

Prostate cancer grading from whole-slide images (WSIs) remains a challenging task due to the large-scale nature of WSIs, the presence of heterogeneous tissue structures, and difficulty of selecting diagnostically relevant regions. Existing…

Gaussian graphical regression is a powerful means that regresses the precision matrix of a Gaussian graphical model on covariates, permitting the numbers of the response variables and covariates to far exceed the sample size. Model fitting…