We introduce Tempered Geodesic Markov Chain Monte Carlo (TG-MCMC) algorithm for initializing pose graph optimization problems, arising in various scenarios such as SFM (structure from motion) or SLAM (simultaneous localization and mapping). TG-MCMC is first of its kind as it unites asymptotically global non-convex opti…
On-device research index
arXiv research
A locally-built, LLM-digested index of recent arXiv papers in quant finance, geometry/topology, and statistical ML — keyword search served straight from SQLite on this machine.
168,657 papers · 148 categories
Trend · papers per month
48 results for “pose graph optimization”
The use of drug combinations often leads to polypharmacy side effects (POSE). A recent method formulates POSE prediction as a link prediction problem on a graph of drugs and proteins, and solves it with Graph Convolutional Networks (GCNs). However, due to the complex relationships in POSE, this method has high computat…
Spatial-Temporal Graph Diffusion Policy with Kinematic Modeling for Bimanual Robotic Manipulationcs.RO
Proposes KStar Diffuser for kinematics-aware bimanual robotic manipulation.
problem Challenges in applying imitation learning to bimanual robotic tasks.
method Integrates physical robot structure into action prediction using a dynamic spatial-temporal graph and differentiable kinematics.
result Effective generation of kinematics-aware actions in both simulation and real-world environments.
We develop a multi-kernel based regression method for graph signal processing where the target signal is assumed to be smooth over a graph. In multi-kernel regression, an effective kernel function is expressed as a linear combination of many basis kernel functions. We estimate the linear weights to learn the effective …
A new kernel for ranked data tackles computational challenges.
problem Complex geometric structure and partial rankings make existing algorithms infeasible for real-world applications.
method Derives a graph cut kernel that combines submodular optimization and kernel-based methods.
result The graph cut kernel efficiently handles large-scale ranked data.
GraphOpt learns the formation mechanism of graphs from observed structures.
problem Learning formation mechanisms from observed graphs with complex structural properties.
method GraphOpt uses maximum entropy inverse reinforcement learning to solve the link formation problem in a sequential decision-making process.
result GraphOpt discovers a latent objective function that can explain and transfer across different graphs.
Paper tackles dynamic graph topology identification in time-varying graphs.
problem Dynamic graph topology identification in time-varying graphs.
method Proposes an online algorithm for time-varying optimization, with intrinsic temporal regularization.
result Demonstrates performance on Gaussian graphical model problem.
SIGMA model improves graph matching across various applications.
problem Graph matching problem in different domains.
method Stochastic Iterative Graph Matching (SIGMA) model with multi-step refinement and dummy nodes.
result SIGMA produces significantly improved graph matching results compared to state-of-the-art models.
Docking is an important tool in computational drug discovery that aims to predict the binding pose of a ligand to a target protein through a combination of pose scoring and optimization. A scoring function that is differentiable with respect to atom positions can be used for both scoring and gradient-based optimization…
We use the inverse mean curvature flow to prove a sharp Alexandrov-Fenchel-type inequality for a class of hypersurfaces in certain locally hyperbolic manifolds. As an application we derive an optimal Penrose inequality for asymptotically locally hyperbolic graphs in any dimension . When the horizon has the top…
New method synchronizes graphs with probability measures on rotations.
problem Synchronizing graphs with measure-valued edges over rotations.
method Formulated as maximization of cycle-consistency in probability measures over rotations, using Sinkhorn divergences.
result Proposes a nonparametric Riemannian particle optimization approach converging to global optimum under certain conditions.
In a talk at the Cornell Topology Festival in 2005, W. Thurston discussed a graph which we call "The Big Dehn Surgery Graph", B. Here we explore this graph, particularly the link of S^3, and prove facts about the geometry and topology of B. We also investigate some interesting subgraphs and pose what we believe are imp…
Solved Dudeney's 100-year-old puzzle about triangle to square dissection.
problem How to dissect an equilateral triangle into the fewest pieces to form a square.
method Reduced the problem to analyzing graph structures representing piece correspondences.
result Proved that four is the minimum number of pieces for an equilateral triangle to square dissection.
Proves Khovanov homology has no torsion for bipartite circle graphs.
problem Proving properties of Khovanov homology for bipartite circle graphs.
method Proved homotopy equivalence of independence complexes to wedges of spheres.
result Extreme Khovanov homology has no torsion.
We apply variational inference to learn vehicle trajectory parameters from noisy data.
problem Learning parameters for vehicle trajectory estimation from noisy measurements.
method Gaussian variational inference with parameter learning in a motion and sensor model context.
result High-quality state estimates achieved even with outliers and false loop closures.
This note addresses some questions that arise in the series of works by Kyoji Saito on the growth functions of graphs. We study "hyperbolike" graphs, which include Cayley graphs of hyperbolic groups. We generalize some well-known results on hyperbolic groups to the hyperbolike setting, including rationality of generati…
Mining graph data has become a popular research topic in computer science and has been widely studied in both academia and industry given the increasing amount of network data in the recent years. However, the huge amount of network data has posed great challenges for efficient analysis. This motivates the advent of gr…
Learning Latent Graph Geometry via Fixed-Point Schrödinger-Type Activation: A Theoretical Studycs.LG
Study neural architectures on learned latent graphs using Schrödinger dynamics.
problem Understanding neural architectures on learned latent graphs.
method Optimizes over stratified moduli space of weighted graphs with Kähler-Hessian metric.
result Multilayer stationary networks are equivalent to global stationary problems on supra-graphs.
We prove a sharp Alexandrov-Fenchel-type inequality for star-shaped, strictly mean convex hypersurfaces in hyperbolic -space, . The argument uses two new monotone quantities along the inverse mean curvature flow. As an application we establish, in any dimension, an optimal Penrose inequality for asymptotica…
Asymptotic raysmath.GT
We prove that a graph G is asymptotically isomorphic to the ray if and only if G is uniformly spherically bounded and is of bounded local degrees. This problem arouse in combinatorics and was posed in [3] (Problem 10.1).
Modeling Hierarchical Spaces: A Review and Unified Framework for Surrogate-Based Architecture Designcs.LG
Unified framework for modeling hierarchical spaces in design problems.
problem Challenges in modeling hierarchical, conditional, heterogeneous, or tree-structured domains.
method Unified framework combining feature modeling and graph theory, introducing meta and partially-decreed variables.
result Demonstrated effectiveness on complex system design problems, including neural networks and green-aircraft.
A new method for transporting unbalanced measures on graphs efficiently.
problem Optimal transport for measures with unequal total masses on graph metric spaces.
method Developed a novel variant of entropy partial transport (Orlicz-EPT) with Orlicz geometric structure, leading to Orlicz-Sobolev transport (OST).
result OST can be efficiently computed by solving a univariate optimization problem, significantly faster than Orlicz-EPT.
Vision based localization is the problem of inferring the pose of the camera given a single image. One solution to this problem is to learn a deep neural network to infer the pose of a query image after learning on a dataset of images with known poses. Another more commonly used approach rely on image retrieval where t…
Graphs are a fundamental abstraction for modeling relational data. However, graphs are discrete and combinatorial in nature, and learning representations suitable for machine learning tasks poses statistical and computational challenges. In this work, we propose Graphite, an algorithmic framework for unsupervised learn…
FastMap-D embeds directed graphs using potential fields.
problem Embedding directed graphs in Euclidean space.
method Generalization of FastMap to handle directed graphs using a potential field and machine learning.
result FastMap-D outperforms other approaches in embedding directed graphs.
Generative Adversarial Graph Neural Network (Sig-Graph GAN) models financial time series data.
problem Challenges in generating synthetic data for non-stationary financial time series.
method Integrates time-series signature, LSTM, and GNNs with visibility graph algorithm.
result Sig-Graph GAN outperforms baseline methods in replicating time series data distributions.
Convolutional neural network (CNN)-based feature learning has become state of the art, since given sufficient training data, CNN can significantly outperform traditional methods for various classification tasks. However, feature learning becomes more difficult if some training labels are noisy. With traditional regular…
Contradiction graphs reveal VC dimension threshold.
problem Determining VC dimension of concept classes.
method Study contradiction graphs of binary concept classes.
result Single contradiction graph determines VC dimension.
Graph refinement, or the task of obtaining subgraphs of interest from over-complete graphs, can have many varied applications. In this work, we extract trees or collection of sub-trees from image data by, first deriving a graph-based representation of the volumetric data and then, posing the tree extraction as a graph …
Graph Ricci flow reveals hidden hierarchies in stock market correlations.
problem Detecting hidden structures in the complex stock market graph.
method Using graph Ricci curvature and flow techniques to analyze the NASDAQ 100 index.
result Algorithm detects hidden hierarchies, community behavior, and clustering in financial markets.
Graphs are fundamental mathematical structures used in various fields to represent data, signals and processes. In this paper, we propose a novel framework for learning/estimating graphs from data. The proposed framework includes (i) formulation of various graph learning problems, (ii) their probabilistic interpretatio…
We propose NetGAN - the first implicit generative model for graphs able to mimic real-world networks. We pose the problem of graph generation as learning the distribution of biased random walks over the input graph. The proposed model is based on a stochastic neural network that generates discrete output samples and is…
We consider the problem of learning the structure of undirected graphical models with bounded treewidth, within the maximum likelihood framework. This is an NP-hard problem and most approaches consider local search techniques. In this paper, we pose it as a combinatorial optimization problem, which is then relaxed to a…
The paper learns pose variations within shape populations using constrained mixtures of factor analyzers.
problem Learning pose variations within a shape population with articulated parts and relative rotations.
method Formulated as mixtures of factor analyzers, segmentation by component posterior probabilities, and constraints on factor loading matrices for rotation matrices.
result Automatic learning of pose variations from shape populations, resulting in smooth and realistic animations.
Accurate prediction of drug-target interaction (DTI) is essential for in silico drug design. For the purpose, we propose a novel approach for predicting DTI using a GNN that directly incorporates the 3D structure of a protein-ligand complex. We also apply a distance-aware graph attention algorithm with gate augmentatio…
Benchmark data sets are an indispensable ingredient of the evaluation of graph-based machine learning methods. We release a new data set, compiled from International Planning Competitions (IPC), for benchmarking graph classification, regression, and related tasks. Apart from the graph construction (based on AI planning…
Neural network estimates network models efficiently.
problem Estimating flexible ERGMs is challenging due to intractable normalizing constants.
method Trains a neural network on parameter-simulation pairs to invert and estimate parameters quickly and in parallel.
result The method performs well in practice and accommodates extra network statistics.
We study the problem of reducing test-time acquisition costs in classification systems. Our goal is to learn decision rules that adaptively select sensors for each example as necessary to make a confident prediction. We model our system as a directed acyclic graph (DAG) where internal nodes correspond to sensor subsets…
Time series of graphs are increasingly prevalent in modern data and pose unique challenges to visual exploration and pattern extraction. This paper describes the development and application of matrix factorizations for exploration and time-varying community detection in time-evolving graph sequences. The matrix factori…
New algorithm improves graph-based active learning by identifying unexplored regions.
problem Improving graph-based active learning by identifying unexplored regions.
method Poisson Reweighted Laplacian Uncertainty Sampling (PWLL) with a diagonal perturbation.
result PWLL effectively identifies unexplored regions in graph-based data.
Foot-mounted inertial positioning (FMIP) can face problems of inertial drifts and unknown initial states in real applications, which renders the estimated trajectories inaccurate and not obtained in a well defined coordinate system for matching trajectories of different users. In this paper, an approach adopting receiv…
Paper optimizes estimation of quadratic functionals in nonparametric IV models.
problem Optimal estimation of a nonlinear functional in ill-posed inverse regression.
method Adaptive, minimax estimation using leave-one-out, sieve NPIV estimator with data-driven sieve dimension selection.
result Adaptive estimator achieves minimax optimal rate in various ill-posed cases.
New methods cluster and test graphs without vertex correspondence.
problem Clustering and testing of networks without vertex correspondence.
method Inspired by graphon estimation, propose a novel graph distance and clustering algorithms.
result Prove statistical consistency of clustering algorithms under Lipschitz assumptions on graph degrees.
Graph kernels are kernel methods measuring graph similarity and serve as a standard tool for graph classification. However, the use of kernel methods for node classification, which is a related problem to graph representation learning, is still ill-posed and the state-of-the-art methods are heavily based on heuristics.…
This paper presents the first use of graph neural networks (GNNs) for higher-order proof search and demonstrates that GNNs can improve upon state-of-the-art results in this domain. Interactive, higher-order theorem provers allow for the formalization of most mathematical theories and have been shown to pose a significa…
DMGNN predicts 3D human motions using adaptive multiscale graphs.
problem Predicting 3D skeleton-based human motions accurately.
method Dynamic multiscale graph neural networks (DMGNN) with adaptive multiscale graphs and MGCU.
result DMGNN outperforms state-of-the-art methods in short and long-term predictions.
Study shows how Laplacian semi-supervised learning behaves at low labeling rates.
problem Understanding behavior of Laplacian semi-supervised learning at very low label rates.
method Analysis of random geometric graphs and -convergence tools.
result For certain conditions, Laplacian learning becomes degenerate and spikes form; for others, it remains well-posed and consistent.
This paper presents KeypointNet, an end-to-end geometric reasoning framework to learn an optimal set of category-specific 3D keypoints, along with their detectors. Given a single image, KeypointNet extracts 3D keypoints that are optimized for a downstream task. We demonstrate this framework on 3D pose estimation by pro…