相关论文: Depth Descent Synchronization in $\mathrm{SO}(D)$
The synchronization problem over the special orthogonal group $SO(d)$ consists of estimating a set of unknown rotations $R_1,R_2,...,R_n$ from noisy measurements of a subset of their pairwise ratios $R_{i}^{-1}R_{j}$. The problem has found…
We present a new algorithm for Tukey (halfspace) depth level sets and its implementation. Given $d$-dimensional data set for any $d\geq 2$, the algorithm is based on representation of level sets as intersections of balls in $R^d$, and can…
This paper conducts a rigorous analysis for provable estimation of multidimensional arrays, in particular third-order tensors, from a random subset of its corrupted entries. Our study rests heavily on a recently proposed tensor algebraic…
Tensor completion recovers a multi-dimensional array from a limited number of measurements. Using the recently proposed tensor ring (TR) decomposition, in this paper we show that a d-order tensor of dimensional size n and TR rank r can be…
The Muon optimizer has recently demonstrated remarkable empirical success in training large language models. However, the theoretical understanding of its mechanisms remains limited. Current convergence guarantees for Muon rely heavily on…
Recent work has demonstrated the effectiveness of gradient descent for directly recovering the factors of low-rank matrices from random linear measurements in a globally convergent manner when initialized properly. However, the performance…
Many geometric estimation problems take the form of synchronization over the special Euclidean group: estimate the values of a set of poses given noisy measurements of a subset of their pairwise relative transforms. This problem is…
We propose a novel quadratic programming formulation for estimating the corruption levels in group synchronization, and use these estimates to solve this problem. Our objective function exploits the cycle consistency of the group and we…
This work presents ReSync, a Riemannian subgradient-based algorithm for solving the robust rotation synchronization problem, which arises in various engineering applications. ReSync solves a least-unsquared minimization formulation over the…
Many important geometric estimation problems take the form of synchronization over the special Euclidean group: estimate the values of a set of poses given a set of relative measurements between them. This problem is typically formulated as…
We study the recovery of the underlying graphs or permutations for tensors in the tensor ring or tensor train format. Our proposed algorithms compare the matricization ranks after down-sampling, whose complexity is $O(d\log d)$ for $d$-th…
Accurate rotation estimation is at the heart of robot perception tasks such as visual odometry and object pose estimation. Deep neural networks have provided a new way to perform these tasks, and the choice of rotation representation is an…
In this work, we study the robust phase retrieval problem where the task is to recover an unknown signal $\theta^* \in \mathbb{R}^d$ in the presence of potentially arbitrarily corrupted magnitude-only linear measurements. We propose an…
We study the robust matrix completion problem for the low-rank Hankel matrix, which detects the sparse corruptions caused by extreme outliers while we try to recover the original Hankel matrix from the partial observation. In this paper, we…
We give the first polynomial-time algorithm for performing linear or polynomial regression resilient to adversarial corruptions in both examples and labels. Given a sufficiently large (polynomial-size) training set drawn i.i.d. from…
Under mild conditions on the noise level of the measurements, rotation averaging satisfies strong duality, which enables global solutions to be obtained via semidefinite programming (SDP) relaxation. However, generic solvers for SDP are…
We study the problem of estimating a low-rank positive semidefinite (PSD) matrix from a set of rank-one measurements using sensing vectors composed of i.i.d. standard Gaussian entries, which are possibly corrupted by arbitrary outliers.…
We consider the problem of estimating the discrete clustering structures under the Sub-Gaussian Mixture Model. Our main results establish a hidden integrality property of a semidefinite programming (SDP) relaxation for this problem: while…
Rotation group $\mathcal{SO}(d)$ synchronization is an important inverse problem and has attracted intense attention from numerous application fields such as graph realization, computer vision, and robotics. In this paper, we focus on the…
Distributed gradient descent algorithms have come to the fore in modern machine learning, especially in parallelizing the handling of large datasets that are distributed across several workers. However, scant attention has been paid to…