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We study a class of orbit recovery problems in which we observe independent copies of an unknown element of $\mathbb{R}^p$, each linearly acted upon by a random element of some group (such as $\mathbb{Z}/p$ or $\mathrm{SO}(3)$) and then corrupted by additive Gaussian noise. We prove matching upper and lower bounds on the number of samples required to approximately recover the group orbit of this unknown element with high probability. These bounds, based on quantitative techniques in invariant theory, give a precise correspondence between the statistical difficulty of the estimation problem and algebraic properties of the group. Furthermore, we give computer-assisted procedures to certify these properties that are computationally efficient in many cases of interest. The model is motivated by geometric problems in signal processing, computer vision, and structural biology, and applies to the reconstruction problem in cryo-electron microscopy (cryo-EM), a problem of significant practical interest. Our results allow us to verify (for a given problem size) that if cryo-EM images are corrupted by noise with variance $\sigma^2$, the number of images required to recover the molecule structure scales as $\sigma^6$. We match this bound with a novel (albeit computationally expensive) algorithm for ab initio reconstruction in cryo-EM, based on invariant features of degree at most 3. We further discuss how to recover multiple molecular structures from mixed (or heterogeneous) cryo-EM samples.

Additive regression models with interactions are widely studied in the literature, using methods such as splines or Gaussian process regression. However, these methods can pose challenges for estimation and model selection, due to the presence of many smoothing parameters and the lack of suitable criteria. We propose to address these challenges by extending the I-prior methodology (Bergsma, 2020) to multiple covariates, which may be multidimensional. The I-prior methodology has some advantages over other methods, such as Gaussian process regression and Tikhonov regularization, both theoretically and practically. In particular, the I-prior is a proper prior, is based on minimal assumptions, yields an admissible posterior mean, and estimation of the scale (or smoothing) parameters can be done using an EM algorithm with simple E and M steps. Moreover, we introduce a parsimonious specification of models with interactions, which has two benefits: (i) it reduces the number of scale parameters and thus facilitates the estimation of models with interactions, and (ii) it enables straightforward model selection (among models with different interactions) based on the marginal likelihood.

The design of particle simulation methods for collisional plasma physics has always represented a challenge due to the unbounded total collisional cross section, which prevents a natural extension of the classical Direct Simulation Monte Carlo (DSMC) method devised for the Boltzmann equation. One way to overcome this problem is to consider the design of Monte Carlo algorithms that are robust in the so-called grazing collision limit. In the first part of this manuscript, we will focus on the construction of collision algorithms for the Landau-Fokker-Planck equation based on the grazing collision asymptotics and which avoids the use of iterative solvers. Subsequently, we discuss problems involving uncertainties and show how to develop a stochastic Galerkin projection of the particle dynamics which permits to recover spectral accuracy for smooth solutions in the random space. Several classical numerical tests are reported to validate the present approach.

Reinforcement learning methods, while effective for learning robotic navigation strategies, are known to be highly sample inefficient. This sample inefficiency comes in part from not suitably balancing the explore-exploit dilemma, especially in the presence of non-stationarity, during policy optimization. To incorporate a balance of exploration-exploitation for sample efficiency, we propose Ada-NAV, an adaptive trajectory length scheme where the length grows as a policy's randomness, represented by its Shannon or differential entropy, decreases. Our adaptive trajectory length scheme emphasizes exploration at the beginning of training due to more frequent gradient updates and emphasizes exploitation later on with longer trajectories. In gridworld, simulated robotic environments, and real-world robotic experiments, we demonstrate the merits of the approach over constant and randomly sampled trajectory lengths in terms of performance and sample efficiency. For a fixed sample budget, Ada-NAV results in an 18% increase in navigation success rate, a 20-38% decrease in the navigation path length, and 9.32% decrease in the elevation cost compared to the policies obtained by the other methods. We also demonstrate that Ada-NAV can be transferred and integrated into a Clearpath Husky robot without significant performance degradation.

Selecting exploratory actions that generate a rich stream of experience for better learning is a fundamental challenge in reinforcement learning (RL). An approach to tackle this problem consists in selecting actions according to specific policies for an extended period of time, also known as options. A recent line of work to derive such exploratory options builds upon the eigenfunctions of the graph Laplacian. Importantly, until now these methods have been mostly limited to tabular domains where (1) the graph Laplacian matrix was either given or could be fully estimated, (2) performing eigendecomposition on this matrix was computationally tractable, and (3) value functions could be learned exactly. Additionally, these methods required a separate option discovery phase. These assumptions are fundamentally not scalable. In this paper we address these limitations and show how recent results for directly approximating the eigenfunctions of the Laplacian can be leveraged to truly scale up options-based exploration. To do so, we introduce a fully online deep RL algorithm for discovering Laplacian-based options and evaluate our approach on a variety of pixel-based tasks. We compare to several state-of-the-art exploration methods and show that our approach is effective, general, and especially promising in non-stationary settings.

In spite of the large literature on reinforcement learning (RL) algorithms for partially observable Markov decision processes (POMDPs), a complete theoretical understanding is still lacking. In a partially observable setting, the history of data available to the agent increases over time so most practical algorithms either truncate the history to a finite window or compress it using a recurrent neural network leading to an agent state that is non-Markovian. In this paper, it is shown that in spite of the lack of the Markov property, recurrent Q-learning (RQL) converges in the tabular setting. Moreover, it is shown that the quality of the converged limit depends on the quality of the representation which is quantified in terms of what is known as an approximate information state (AIS). Based on this characterization of the approximation error, a variant of RQL with AIS losses is presented. This variant performs better than a strong baseline for RQL that does not use AIS losses. It is demonstrated that there is a strong correlation between the performance of RQL over time and the loss associated with the AIS representation.

Data heterogeneity across clients is a key challenge in federated learning. Prior works address this by either aligning client and server models or using control variates to correct client model drift. Although these methods achieve fast convergence in convex or simple non-convex problems, the performance in over-parameterized models such as deep neural networks is lacking. In this paper, we first revisit the widely used FedAvg algorithm in a deep neural network to understand how data heterogeneity influences the gradient updates across the neural network layers. We observe that while the feature extraction layers are learned efficiently by FedAvg, the substantial diversity of the final classification layers across clients impedes the performance. Motivated by this, we propose to correct model drift by variance reduction only on the final layers. We demonstrate that this significantly outperforms existing benchmarks at a similar or lower communication cost. We furthermore provide proof for the convergence rate of our algorithm.

Ridges play a vital role in accurately approximating the underlying structure of manifolds. In this paper, we explore the ridge's variation by applying a concave nonlinear transformation to the density function. Through the derivation of the Hessian matrix, we observe that nonlinear transformations yield a rank-one modification of the Hessian matrix. Leveraging the variational properties of eigenvalue problems, we establish a partial order inclusion relationship among the corresponding ridges. We intuitively discover that the transformation can lead to improved estimation of the tangent space via rank-one modification of the Hessian matrix. To validate our theories, we conduct extensive numerical experiments on synthetic and real-world datasets that demonstrate the superiority of the ridges obtained from our transformed approach in approximating the underlying truth manifold compared to other manifold fitting algorithms.

In this paper, we propose a model averaging approach for addressing model uncertainty in the context of partial linear functional additive models. These models are designed to describe the relation between a response and mixed-types of predictors by incorporating both the parametric effect of scalar variables and the additive effect of a functional variable. The proposed model averaging scheme assigns weights to candidate models based on the minimization of a multi-fold cross-validation criterion. Furthermore, we establish the asymptotic optimality of the resulting estimator in terms of achieving the lowest possible square prediction error loss under model misspecification. Extensive simulation studies and an application to a near infrared spectra dataset are presented to support and illustrate our method.

Human pose estimation aims to locate the human body parts and build human body representation (e.g., body skeleton) from input data such as images and videos. It has drawn increasing attention during the past decade and has been utilized in a wide range of applications including human-computer interaction, motion analysis, augmented reality, and virtual reality. Although the recently developed deep learning-based solutions have achieved high performance in human pose estimation, there still remain challenges due to insufficient training data, depth ambiguities, and occlusions. The goal of this survey paper is to provide a comprehensive review of recent deep learning-based solutions for both 2D and 3D pose estimation via a systematic analysis and comparison of these solutions based on their input data and inference procedures. More than 240 research papers since 2014 are covered in this survey. Furthermore, 2D and 3D human pose estimation datasets and evaluation metrics are included. Quantitative performance comparisons of the reviewed methods on popular datasets are summarized and discussed. Finally, the challenges involved, applications, and future research directions are concluded. We also provide a regularly updated project page on: \url{//github.com/zczcwh/DL-HPE}