相关论文: Sample Complexity of Probabilistic Roadmaps via $\…

Real-world road networks have an approximate scale-invariance property; can one devise mathematical models of random networks whose distributions are {\em exactly} invariant under Euclidean scaling? This requires working in the continuum…

Given a parametric polynomial curve $\gamma:[a,b]\rightarrow \mathbb{R}^n$, how can we sample a random point $\mathfrak{x}\in \mathrm{im}(\gamma)$ in such a way that it is distributed uniformly with respect to the arc-length? Unfortunately,…

The goal of this paper is to develop methodology for the systematic analysis of asymptotic statistical properties of data driven DRO formulations based on their corresponding non-DRO counterparts. We illustrate our approach in various…

In offline reinforcement learning (RL), the absence of active exploration calls for attention on the model robustness to tackle the sim-to-real gap, where the discrepancy between the simulated and deployed environments can significantly…

Recently, invariant risk minimization (IRM) was proposed as a promising solution to address out-of-distribution (OOD) generalization. However, it is unclear when IRM should be preferred over the widely-employed empirical risk minimization…

Anytime almost-surely asymptotically optimal planners, such as RRT*, incrementally find paths to every state in the search domain. This is inefficient once an initial solution is found as then only states that can provide a better solution…

We extend our study of Motion Planning via Manifold Samples (MMS), a general algorithmic framework that combines geometric methods for the exact and complete analysis of low-dimensional configuration spaces with sampling-based approaches…

We reconsider randomized algorithms for the low-rank approximation of symmetric positive semi-definite (SPSD) matrices such as Laplacian and kernel matrices that arise in data analysis and machine learning applications. Our main results…

In this paper we present a novel probabilistic sampling-based motion planning algorithm called the Fast Marching Tree algorithm (FMT*). The algorithm is specifically aimed at solving complex motion planning problems in high-dimensional…

Properties of networks are often characterized in terms of features such as node degree distributions, average path lengths, diameters, or clustering coefficients. Here, we study shortest path length distributions. On the one hand, average…

Although recent provable methods have been developed to compute preimage bounds for neural networks, their scalability is fundamentally limited by the #P-hardness of the problem. In this work, we adopt a novel probabilistic perspective,…

The density ratio model (DRM) provides a flexible and useful platform for combining information from multiple sources. In this paper, we consider statistical inference under two-sample DRMs with additional parameters defined through and/or…

In this paper, we present a new algorithm that extends RRT* and RT-RRT* for online path planning in complex, dynamic environments. Sampling-based approaches often perform poorly in environments with narrow passages, a feature common to many…

Probabilistic analysis for metric optimization problems has mostly been conducted on random Euclidean instances, but little is known about metric instances drawn from distributions other than the Euclidean. This motivates our study of…

Motion planning is a fundamental problem in autonomous robotics that requires finding a path to a specified goal that avoids obstacles and takes into account a robot's limitations and constraints. It is often desirable for this path to also…

In this paper, we propose a deterministic algorithm that approximates the optimal path cover on weighted undirected graphs. Based on the 1/2-Approximation Path Cover Algorithm by Moran et al., we add a procedure to remove the redundant…

Random feature mapping (RFM) is a popular method for speeding up kernel methods at the cost of losing a little accuracy. We study kernel ridge regression with random feature mapping (RFM-KRR) and establish novel out-of-sample error upper…

We study the sample complexity of stochastic convex optimization when problem parameters, e.g., the distance to optimality, are unknown. We pursue two strategies. First, we develop a reliable model selection method that avoids overfitting…

Motivated by the statistical analysis of the discrete optimal transport problem, we prove distributional limits for the solutions of linear programs with random constraints. Such limits were first obtained by Klatt, Munk, & Zemel (2022),…

It was experimentally observed that the majority of real-world networks follow power law degree distribution. The aim of this paper is to study the algorithmic complexity of such "typical" networks. The contribution of this work is twofold.…