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This paper addresses the following research question: ``can one compress a detailed 3D representation and use it directly for point cloud registration?''. Map compression of the scene can be achieved by the tensor train (TT) decomposition of the signed distance function (SDF) representation. It regulates the amount of data reduced by the so-called TT-ranks. Using this representation we have proposed an algorithm, the TT-SDF2PC, that is capable of directly registering a PC to the compressed SDF by making use of efficient calculations of its derivatives in the TT domain, saving computations and memory. We compare TT-SDF2PC with SOTA local and global registration methods in a synthetic dataset and a real dataset and show on par performance while requiring significantly less resources.

In Federated Learning, a global model is learned by aggregating model updates computed at a set of independent client nodes, to reduce communication costs multiple gradient steps are performed at each node prior to aggregation. A key challenge in this setting is data heterogeneity across clients resulting in differing local objectives which can lead clients to overly minimize their own local objective, diverging from the global solution. We demonstrate that individual client models experience a catastrophic forgetting with respect to data from other clients and propose an efficient approach that modifies the cross-entropy objective on a per-client basis by re-weighting the softmax logits prior to computing the loss. This approach shields classes outside a client's label set from abrupt representation change and we empirically demonstrate it can alleviate client forgetting and provide consistent improvements to standard federated learning algorithms. Our method is particularly beneficial under the most challenging federated learning settings where data heterogeneity is high and client participation in each round is low.

This paper derives the CUR-type factorization for tensors in the Tucker format based on a new variant of the discrete empirical interpolation method known as L-DEIM. This novel sampling technique allows us to construct an efficient algorithm for computing the structure-preserving decomposition, which significantly reduces the computational cost. For large-scale datasets, we incorporate the random sampling technique with the L-DEIM procedure to further improve efficiency. Moreover, we propose randomized algorithms for computing a hybrid decomposition, which yield interpretable factorization and provide a smaller approximation error than the tensor CUR factorization. We provide comprehensive analysis of probabilistic errors associated with our proposed algorithms, and present numerical results that demonstrate the effectiveness of our methods.

Past work exploring adversarial vulnerability have focused on situations where an adversary can perturb all dimensions of model input. On the other hand, a range of recent works consider the case where either (i) an adversary can perturb a limited number of input parameters or (ii) a subset of modalities in a multimodal problem. In both of these cases, adversarial examples are effectively constrained to a subspace $V$ in the ambient input space $\mathcal{X}$. Motivated by this, in this work we investigate how adversarial vulnerability depends on $\dim(V)$. In particular, we show that the adversarial success of standard PGD attacks with $\ell^p$ norm constraints behaves like a monotonically increasing function of $\epsilon (\frac{\dim(V)}{\dim \mathcal{X}})^{\frac{1}{q}}$ where $\epsilon$ is the perturbation budget and $\frac{1}{p} + \frac{1}{q} =1$, provided $p > 1$ (the case $p=1$ presents additional subtleties which we analyze in some detail). This functional form can be easily derived from a simple toy linear model, and as such our results land further credence to arguments that adversarial examples are endemic to locally linear models on high dimensional spaces.

LiDAR Mapping has been a long-standing problem in robotics. Recent progress in neural implicit representation has brought new opportunities to robotic mapping. In this paper, we propose the multi-volume neural feature fields, called NF-Atlas, which bridge the neural feature volumes with pose graph optimization. By regarding the neural feature volume as pose graph nodes and the relative pose between volumes as pose graph edges, the entire neural feature field becomes both locally rigid and globally elastic. Locally, the neural feature volume employs a sparse feature Octree and a small MLP to encode the submap SDF with an option of semantics. Learning the map using this structure allows for end-to-end solving of maximum a posteriori (MAP) based probabilistic mapping. Globally, the map is built volume by volume independently, avoiding catastrophic forgetting when mapping incrementally. Furthermore, when a loop closure occurs, with the elastic pose graph based representation, only updating the origin of neural volumes is required without remapping. Finally, these functionalities of NF-Atlas are validated. Thanks to the sparsity and the optimization based formulation, NF-Atlas shows competitive performance in terms of accuracy, efficiency and memory usage on both simulation and real-world datasets.

We give a simple approximation algorithm for a common generalization of many previously studied extensions of the stable matching problem with ties. These generalizations include the existence of critical vertices in the graph, amongst whom we must match as much as possible, free edges, that cannot be blocking edges and $\Delta$-stabilities, which mean that for an edge to block, the improvement should be large enough on one or both sides. We also introduce other notions to generalize these even further, which allows our framework to capture many existing and future applications. We show that our edge duplicating technique allows us to treat these different types of generalizations simultaneously, while also making the algorithm, the proofs and the analysis much simpler and shorter then in previous approaches. In particular, we answer an open question by Askalidis et al. (2013) about the existence of a $\frac{3}{2}$-approximation algorithm for the Max-SMTI problem with free edges. This demonstrates well that this technique can grasp the underlying essence of these problems quite well and have the potential to be able to solve countless future applications as well.

Meta-learning has arisen as a successful method for improving training performance by training over many similar tasks, especially with deep neural networks (DNNs). However, the theoretical understanding of when and why overparameterized models such as DNNs can generalize well in meta-learning is still limited. As an initial step towards addressing this challenge, this paper studies the generalization performance of overfitted meta-learning under a linear regression model with Gaussian features. In contrast to a few recent studies along the same line, our framework allows the number of model parameters to be arbitrarily larger than the number of features in the ground truth signal, and hence naturally captures the overparameterized regime in practical deep meta-learning. We show that the overfitted min $\ell_2$-norm solution of model-agnostic meta-learning (MAML) can be beneficial, which is similar to the recent remarkable findings on ``benign overfitting'' and ``double descent'' phenomenon in the classical (single-task) linear regression. However, due to the uniqueness of meta-learning such as task-specific gradient descent inner training and the diversity/fluctuation of the ground-truth signals among training tasks, we find new and interesting properties that do not exist in single-task linear regression. We first provide a high-probability upper bound (under reasonable tightness) on the generalization error, where certain terms decrease when the number of features increases. Our analysis suggests that benign overfitting is more significant and easier to observe when the noise and the diversity/fluctuation of the ground truth of each training task are large. Under this circumstance, we show that the overfitted min $\ell_2$-norm solution can achieve an even lower generalization error than the underparameterized solution.

We define very large multi-objective optimization problems to be multiobjective optimization problems in which the number of decision variables is greater than 100,000 dimensions. This is an important class of problems as many real-world problems require optimizing hundreds of thousands of variables. Existing evolutionary optimization methods fall short of such requirements when dealing with problems at this very large scale. Inspired by the success of existing recommender systems to handle very large-scale items with limited historical interactions, in this paper we propose a method termed Very large-scale Multiobjective Optimization through Recommender Systems (VMORS). The idea of the proposed method is to transform the defined such very large-scale problems into a problem that can be tackled by a recommender system. In the framework, the solutions are regarded as users, and the different evolution directions are items waiting for the recommendation. We use Thompson sampling to recommend the most suitable items (evolutionary directions) for different users (solutions), in order to locate the optimal solution to a multiobjective optimization problem in a very large search space within acceptable time. We test our proposed method on different problems from 100,000 to 500,000 dimensions, and experimental results show that our method not only shows good performance but also significant improvement over existing methods.

We introduce the Weak-form Estimation of Nonlinear Dynamics (WENDy) method for estimating model parameters for non-linear systems of ODEs. Without relying on any numerical differential equation solvers, WENDy computes accurate estimates and is robust to large (biologically relevant) levels of measurement noise. For low dimensional systems with modest amounts of data, WENDy is competitive with conventional forward solver-based nonlinear least squares methods in terms of speed and accuracy. For both higher dimensional systems and stiff systems, WENDy is typically both faster (often by orders of magnitude) and more accurate than forward solver-based approaches. The core mathematical idea involves an efficient conversion of the strong form representation of a model to its weak form, and then solving a regression problem to perform parameter inference. The core statistical idea rests on the Errors-In-Variables framework, which necessitates the use of the iteratively reweighted least squares algorithm. Further improvements are obtained by using orthonormal test functions, created from a set of C-infinity bump functions of varying support sizes. We demonstrate the high robustness and computational efficiency by applying WENDy to estimate parameters in some common models from population biology, neuroscience, and biochemistry, including logistic growth, Lotka-Volterra, FitzHugh-Nagumo, Hindmarsh-Rose, and a Protein Transduction Benchmark model. Software and code for reproducing the examples is available at (//github.com/MathBioCU/WENDy).

Sampling from high-dimensional distributions is a fundamental problem in statistical research and practice. However, great challenges emerge when the target density function is unnormalized and contains isolated modes. We tackle this difficulty by fitting an invertible transformation mapping, called a transport map, between a reference probability measure and the target distribution, so that sampling from the target distribution can be achieved by pushing forward a reference sample through the transport map. We theoretically analyze the limitations of existing transport-based sampling methods using the Wasserstein gradient flow theory, and propose a new method called TemperFlow that addresses the multimodality issue. TemperFlow adaptively learns a sequence of tempered distributions to progressively approach the target distribution, and we prove that it overcomes the limitations of existing methods. Various experiments demonstrate the superior performance of this novel sampler compared to traditional methods, and we show its applications in modern deep learning tasks such as image generation. The programming code for the numerical experiments is available at //github.com/yixuan/temperflow.