相关论文: A Decoupled and Linear Framework for Global Outlie…

Semidefinite Programming (SDP) and Sums-of-Squares (SOS) relaxations have led to certifiably optimal non-minimal solvers for several robotics and computer vision problems. However, most non-minimal solvers rely on least-squares…

We propose a novel approach to Graduated Non-Convexity (GNC) and demonstrate its efficacy through its application in robust pose graph optimization, a key component in SLAM backends. Traditional GNC methods often rely on heuristic methods…

Accurate and globally referenced global navigation satellite system (GNSS) based vehicular positioning can be achieved in outlier-free open areas. However, the performance of GNSS can be significantly degraded by outlier measurements, such…

We present a novel approach to robust pose graph optimization based on Graduated Non-Convexity (GNC). Unlike traditional GNC-based methods, the proposed approach employs an adaptive shape function using B-spline to optimize the shape of the…

We propose the first general and scalable framework to design certifiable algorithms for robust geometric perception in the presence of outliers. Our first contribution is to show that estimation using common robust costs, such as truncated…

We investigate the problem of certifying optimality for sparse generalized linear models (GLMs), where sparsity is enforced through a cardinality constraint. While Branch-and-Bound (BnB) frameworks can certify optimality using perspective…

This document proposes a Unified Robust Framework that re-engineers the estimation of the Average Treatment Effect on the Overlap (ATO). It synthesizes gamma-Divergence for outlier robustness, Graduated Non-Convexity (GNC) for global…

While mixed-integer linear programming and convex programming solvers have advanced significantly over the past several decades, solution technologies for general mixed-integer nonlinear programs (MINLPs) have yet to reach the same level of…

Many problems are known to be solvable in subexponential parameterized time when the input graph is planar. The bidimensionality framework of Demaine, Fomin, Hajiaghay, and Thilikos [JACM'05] and the treewidth-pattern-covering approach by…

In this paper, we address the challenge of solving large-scale graph-structured nonlinear programs (gsNLPs) in a scalable manner. GsNLPs are problems in which the objective and constraint functions are associated with nodes on a graph and…

Graph Neural Networks (GNNs) have demonstrated remarkable effectiveness in recommendation systems. However, conventional graph-based recommenders, such as LightGCN, require maintaining embeddings of size $d$ for each node, resulting in a…

Nonlinear optimization problems are found at the heart of real-time operations of critical infrastructures. These problems are computationally challenging because they embed complex physical models that exhibit space-time dynamics. We…

When facing graph signal processing tasks, the workhorse assumption is that the graph describing the support of the signals is known. However, in many relevant applications the available graph suffers from observation errors and…

Recent methods for learning a linear subspace from data corrupted by outliers are based on convex $\ell_1$ and nuclear norm optimization and require the dimension of the subspace and the number of outliers to be sufficiently small. In sharp…

A common approach to solve inverse imaging problems relies on finding a maximum a posteriori (MAP) estimate of the original unknown image, by solving a minimization problem. In thiscontext, iterative proximal algorithms are widely used,…

Many problems in robotics, such as estimating the state from noisy sensor data or aligning two point clouds, can be posed and solved as least-squares problems. Unfortunately, vanilla nonminimal solvers for least-squares problems are…

This paper proposes a joint decomposition method that combines La- grangian decomposition and generalized Benders decomposition, to efficiently solve multiscenario nonconvex mixed-integer nonlinear programming (MINLP) problems to global…

Outlier rejection and equivalently inlier set optimization is a key ingredient in numerous applications in computer vision such as filtering point-matches in camera pose estimation or plane and normal estimation in point clouds. Several…

Graph Neural Networks (GNNs) have emerged as a notorious alternative to address learning problems dealing with non-Euclidean datasets. However, although most works assume that the graph is perfectly known, the observed topology is prone to…

In this paper, we investigate the decentralized statistical inference problem, where a network of agents cooperatively recover a (structured) vector from private noisy samples without centralized coordination. Existing optimization-based…