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Generative Adversarial Networks (GANs) are a popular formulation to train generative models for complex high dimensional data. The standard method for training GANs involves a gradient descent-ascent (GDA) procedure on a minimax optimization problem. This procedure is hard to analyze in general due to the nonlinear nature of the dynamics. We study the local dynamics of GDA for training a GAN with a kernel-based discriminator. This convergence analysis is based on a linearization of a non-linear dynamical system that describes the GDA iterations, under an \textit{isolated points model} assumption from [Becker et al. 2022]. Our analysis brings out the effect of the learning rates, regularization, and the bandwidth of the kernel discriminator, on the local convergence rate of GDA. Importantly, we show phase transitions that indicate when the system converges, oscillates, or diverges. We also provide numerical simulations that verify our claims.

Disentangling the factors of variation in data is a fundamental concept in machine learning and has been studied in various ways by different researchers, leading to a multitude of definitions. Despite the numerous empirical studies, more theoretical research is needed to fully understand the defining properties of disentanglement and how different definitions relate to each other. This paper presents a meta-analysis of existing definitions of disentanglement, using category theory as a unifying and rigorous framework. We propose that the concepts of the cartesian and monoidal products should serve as the core of disentanglement. With these core concepts, we show the similarities and crucial differences in dealing with (i) functions, (ii) equivariant maps, (iii) relations, and (iv) stochastic maps. Overall, our meta-analysis deepens our understanding of disentanglement and its various formulations and can help researchers navigate different definitions and choose the most appropriate one for their specific context.

In this paper, we present a numerical approach to solve the McKean-Vlasov equations, which are distribution-dependent stochastic differential equations, under some non-globally Lipschitz conditions for both the drift and diffusion coefficients. We establish a propagation of chaos result, based on which the McKean-Vlasov equation is approximated by an interacting particle system. A truncated Euler scheme is then proposed for the interacting particle system allowing for a Khasminskii-type condition on the coefficients. To reduce the computational cost, the random batch approximation proposed in [Jin et al., J. Comput. Phys., 400(1), 2020] is extended to the interacting particle system where the interaction could take place in the diffusion term. An almost half order of convergence is proved in $L^p$ sense. Numerical tests are performed to verify the theoretical results.

A rigorous full-wave modal analysis based on the method of moments in the spectral domain is presented for line waveguides constituted by two-part impedance planes with arbitrary anisotropic surface impedances. An integral equation is formulated by introducing an auxiliary current sheet on one of the two half planes and extending the impedance boundary condition of the complementary half plane to hold on the entire plane. The equation is then discretized with the method of moments in the spectral domain, by employing exponentially weighted Laguerre polynomials as entire-domain basis functions and performing a Galerkin testing. Numerical results for both bound and leaky line waves are presented and validated against independent results, obtained for isotropic surface impedances with the analytical Sommerfeld-Maliuzhinets method and for the general anisotropic case with a commercial electromagnetic simulator. The proposed approach is computationally efficient, can accommodate the presence of spatial dispersion, and offers physical insight into the modal propagation regimes.

It is often useful to compactly summarize important properties of model parameters and training data so that they can be used later without storing and/or iterating over the entire dataset. As a specific case, we consider estimating the Function Space Distance (FSD) over a training set, i.e. the average discrepancy between the outputs of two neural networks. We propose a Linearized Activation Function TRick (LAFTR) and derive an efficient approximation to FSD for ReLU neural networks. The key idea is to approximate the architecture as a linear network with stochastic gating. Despite requiring only one parameter per unit of the network, our approach outcompetes other parametric approximations with larger memory requirements. Applied to continual learning, our parametric approximation is competitive with state-of-the-art nonparametric approximations, which require storing many training examples. Furthermore, we show its efficacy in estimating influence functions accurately and detecting mislabeled examples without expensive iterations over the entire dataset.

In this paper, we study the implicit regularization of stochastic gradient descent (SGD) through the lens of {\em dynamical stability} (Wu et al., 2018). We start by revising existing stability analyses of SGD, showing how the Frobenius norm and trace of Hessian relate to different notions of stability. Notably, if a global minimum is linearly stable for SGD, then the trace of Hessian must be less than or equal to $2/\eta$, where $\eta$ denotes the learning rate. By contrast, for gradient descent (GD), the stability imposes a similar constraint but only on the largest eigenvalue of Hessian. We then turn to analyze the generalization properties of these stable minima, focusing specifically on two-layer ReLU networks and diagonal linear networks. Notably, we establish the {\em equivalence} between these metrics of sharpness and certain parameter norms for the two models, which allows us to show that the stable minima of SGD provably generalize well. By contrast, the stability-induced regularization of GD is provably too weak to ensure satisfactory generalization. This discrepancy provides an explanation of why SGD often generalizes better than GD. Note that the learning rate (LR) plays a pivotal role in the strength of stability-induced regularization. As the LR increases, the regularization effect becomes more pronounced, elucidating why SGD with a larger LR consistently demonstrates superior generalization capabilities. Additionally, numerical experiments are provided to support our theoretical findings.

We study the convergence to local Nash equilibria of gradient methods for two-player zero-sum differentiable games. It is well-known that such dynamics converge locally when $S \succ 0$ and may diverge when $S=0$, where $S\succeq 0$ is the symmetric part of the Jacobian at equilibrium that accounts for the "potential" component of the game. We show that these dynamics also converge as soon as $S$ is nonzero (partial curvature) and the eigenvectors of the antisymmetric part $A$ are in general position with respect to the kernel of $S$. We then study the convergence rates when $S \ll A$ and prove that they typically depend on the average of the eigenvalues of $S$, instead of the minimum as an analogy with minimization problems would suggest. To illustrate our results, we consider the problem of computing mixed Nash equilibria of continuous games. We show that, thanks to partial curvature, conic particle methods -- which optimize over both weights and supports of the mixed strategies -- generically converge faster than fixed-support methods. For min-max games, it is thus beneficial to add degrees of freedom "with curvature": this can be interpreted as yet another benefit of over-parameterization.

Although haptic sensing has recently been used for legged robot localization in extreme environments where a camera or LiDAR might fail, the problem of efficiently representing the haptic signatures in a learned prior map is still open. This paper introduces an approach to terrain representation for haptic localization inspired by recent trends in machine learning. It combines this approach with the proven Monte Carlo algorithm to obtain an accurate, computation-efficient, and practical method for localizing legged robots under adversarial environmental conditions. We apply the triplet loss concept to learn highly descriptive embeddings in a transformer-based neural network. As the training haptic data are not labeled, the positive and negative examples are discriminated by their geometric locations discovered while training. We demonstrate experimentally that the proposed approach outperforms by a large margin the previous solutions to haptic localization of legged robots concerning the accuracy, inference time, and the amount of data stored in the map. As far as we know, this is the first approach that completely removes the need to use a dense terrain map for accurate haptic localization, thus paving the way to practical applications.

Accurate maps are a prerequisite for virtually all autonomous vehicle tasks. Most state-of-the-art maps assume a static world, and therefore dynamic objects are filtered out of the measurements. However, this division ignores movable but non-moving, i.e. semi-static, objects, which are usually recorded in the map and treated as static objects, violating the static world assumption, causing error in the localization. In this paper, we present a method for modeling moving and movable objects for matching the map and the measurements consistently. This reduces the error resulting from inconsistent categorization and treatment of non-static measurements. A semantic segmentation network is used to categorize the measurements into static and semi-static classes, and a background subtraction-based filtering method is used to remove dynamic measurements. Experimental comparison against a state-of-the-art baseline solution using real-world data from Oxford Radar RobotCar data set shows that consistent assumptions over dynamics increase localization accuracy.

The empirical likelihood is a powerful nonparametric tool, that emulates its parametric counterpart -- the parametric likelihood -- preserving many of its large-sample properties. This article tackles the problem of assessing the discriminatory power of three-class diagnostic tests from an empirical likelihood perspective. In particular, we concentrate on interval estimation in a three-class ROC analysis, where a variety of inferential tasks could be of interest. We present novel theoretical results and tailored techniques studied to efficiently solve some of such tasks. Extensive simulation experiments are provided in a supporting role, with our novel proposals compared to existing competitors, when possible. It emerges that our new proposals are extremely flexible, being able to compete with contestants and being the most suited to accommodating flexible distributions for target populations. We illustrate the application of the novel proposals with a real data example. The article ends with a discussion and a presentation of some directions for future research.