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Consistent motion estimation is fundamental for all mobile autonomous systems. While this sounds like an easy task, often, it is not the case because of changing environmental conditions affecting odometry obtained from vision, Lidar, or the wheels themselves. Unsusceptible to challenging lighting and weather conditions, radar sensors are an obvious alternative. Usually, automotive radars return a sparse point cloud, representing the surroundings. Utilizing this information to motion estimation is challenging due to unstable and phantom measurements, which result in a high rate of outliers. We introduce a credible and robust probabilistic approach to estimate the ego-motion based on these challenging radar measurements; intended to be used within a loosely-coupled sensor fusion framework. Compared to existing solutions, evaluated on the popular nuScenes dataset and others, we show that our proposed algorithm is more credible while not depending on explicit correspondence calculation.

We investigate optimal execution problems with instantaneous price impact and stochastic resilience. First, in the setting of linear price impact function we derive a closed-form recursion for the optimal strategy, generalizing previous results with deterministic transient price impact. Second, we develop a numerical algorithm for the case of nonlinear price impact. We utilize an actor-critic framework that constructs two neural-network surrogates for the value function and the feedback control. One advantage of such functional approximators is the ability to do parametric learning, i.e. to incorporate some of the model parameters as part of the input space. Precise calibration of price impact, resilience, etc., is known to be extremely challenging and hence it is critical to understand sensitivity of the strategy to these parameters. Our parametric neural network (NN) learner organically scales across 3-6 input dimensions and is shown to accurately approximate optimal strategy across a range of parameter configurations. We provide a fully reproducible Jupyter Notebook with our NN implementation, which is of independent pedagogical interest, demonstrating the ease of use of NN surrogates in (parametric) stochastic control problems.

Covariance estimation for matrix-valued data has received an increasing interest in applications. Unlike previous works that rely heavily on matrix normal distribution assumption and the requirement of fixed matrix size, we propose a class of distribution-free regularized covariance estimation methods for high-dimensional matrix data under a separability condition and a bandable covariance structure. Under these conditions, the original covariance matrix is decomposed into a Kronecker product of two bandable small covariance matrices representing the variability over row and column directions. We formulate a unified framework for estimating bandable covariance, and introduce an efficient algorithm based on rank one unconstrained Kronecker product approximation. The convergence rates of the proposed estimators are established, and the derived minimax lower bound shows our proposed estimator is rate-optimal under certain divergence regimes of matrix size. We further introduce a class of robust covariance estimators and provide theoretical guarantees to deal with heavy-tailed data. We demonstrate the superior finite-sample performance of our methods using simulations and real applications from a gridded temperature anomalies dataset and a S&P 500 stock data analysis.

Many recent state-of-the-art (SOTA) optical flow models use finite-step recurrent update operations to emulate traditional algorithms by encouraging iterative refinements toward a stable flow estimation. However, these RNNs impose large computation and memory overheads, and are not directly trained to model such stable estimation. They can converge poorly and thereby suffer from performance degradation. To combat these drawbacks, we propose deep equilibrium (DEQ) flow estimators, an approach that directly solves for the flow as the infinite-level fixed point of an implicit layer (using any black-box solver), and differentiates through this fixed point analytically (thus requiring $O(1)$ training memory). This implicit-depth approach is not predicated on any specific model, and thus can be applied to a wide range of SOTA flow estimation model designs. The use of these DEQ flow estimators allows us to compute the flow faster using, e.g., fixed-point reuse and inexact gradients, consumes $4\sim6\times$ times less training memory than the recurrent counterpart, and achieves better results with the same computation budget. In addition, we propose a novel, sparse fixed-point correction scheme to stabilize our DEQ flow estimators, which addresses a longstanding challenge for DEQ models in general. We test our approach in various realistic settings and show that it improves SOTA methods on Sintel and KITTI datasets with substantially better computational and memory efficiency.

The development of high-dimensional white noise test is important in both statistical theories and applications, where the dimension of the time series can be comparable to or exceed the length of the time series. This paper proposes several distribution-free tests using the rank based statistics for testing the high-dimensional white noise, which are robust to the heavy tails and do not quire the finite-order moment assumptions for the sample distributions. Three families of rank based tests are analyzed in this paper, including the simple linear rank statistics, non-degenerate U-statistics and degenerate U-statistics. The asymptotic null distributions and rate optimality are established for each family of these tests. Among these tests, the test based on degenerate U-statistics can also detect the non-linear and non-monotone relationships in the autocorrelations. Moreover, this is the first result on the asymptotic distributions of rank correlation statistics which allowing for the cross-sectional dependence in high dimensional data.

The stochastic gradient Langevin Dynamics is one of the most fundamental algorithms to solve sampling problems and non-convex optimization appearing in several machine learning applications. Especially, its variance reduced versions have nowadays gained particular attention. In this paper, we study two variants of this kind, namely, the Stochastic Variance Reduced Gradient Langevin Dynamics and the Stochastic Recursive Gradient Langevin Dynamics. We prove their convergence to the objective distribution in terms of KL-divergence under the sole assumptions of smoothness and Log-Sobolev inequality which are weaker conditions than those used in prior works for these algorithms. With the batch size and the inner loop length set to $\sqrt{n}$, the gradient complexity to achieve an $\epsilon$-precision is $\tilde{O}((n+dn^{1/2}\epsilon^{-1})\gamma^2 L^2\alpha^{-2})$, which is an improvement from any previous analyses. We also show some essential applications of our result to non-convex optimization.

One of the most important problems in system identification and statistics is how to estimate the unknown parameters of a given model. Optimization methods and specialized procedures, such as Empirical Minimization (EM) can be used in case the likelihood function can be computed. For situations where one can only simulate from a parametric model, but the likelihood is difficult or impossible to evaluate, a technique known as the Two-Stage (TS) Approach can be applied to obtain reliable parametric estimates. Unfortunately, there is currently a lack of theoretical justification for TS. In this paper, we propose a statistical decision-theoretical derivation of TS, which leads to Bayesian and Minimax estimators. We also show how to apply the TS approach on models for independent and identically distributed samples, by computing quantiles of the data as a first step, and using a linear function as the second stage. The proposed method is illustrated via numerical simulations.

With the increasing penetration of distributed energy resources, distributed optimization algorithms have attracted significant attention for power systems applications due to their potential for superior scalability, privacy, and robustness to a single point-of-failure. The Alternating Direction Method of Multipliers (ADMM) is a popular distributed optimization algorithm; however, its convergence performance is highly dependent on the selection of penalty parameters, which are usually chosen heuristically. In this work, we use reinforcement learning (RL) to develop an adaptive penalty parameter selection policy for the AC optimal power flow (ACOPF) problem solved via ADMM with the goal of minimizing the number of iterations until convergence. We train our RL policy using deep Q-learning, and show that this policy can result in significantly accelerated convergence (up to a 59% reduction in the number of iterations compared to existing, curvature-informed penalty parameter selection methods). Furthermore, we show that our RL policy demonstrates promise for generalizability, performing well under unseen loading schemes as well as under unseen losses of lines and generators (up to a 50% reduction in iterations). This work thus provides a proof-of-concept for using RL for parameter selection in ADMM for power systems applications.

Soft robotic grippers facilitate contact-rich manipulation, including robust grasping of varied objects. Yet the beneficial compliance of a soft gripper also results in significant deformation that can make precision manipulation challenging. We present visual pressure estimation & control (VPEC), a method that uses a single RGB image of an unmodified soft gripper from an external camera to directly infer pressure applied to the world by the gripper. We present inference results for a pneumatic gripper and a tendon-actuated gripper making contact with a flat surface. We also show that VPEC enables precision manipulation via closed-loop control of inferred pressure. We present results for a mobile manipulator (Stretch RE1 from Hello Robot) using visual servoing to do the following: achieve target pressures when making contact; follow a spatial pressure trajectory; and grasp small objects, including a microSD card, a washer, a penny, and a pill. Overall, our results show that VPEC enables grippers with high compliance to perform precision manipulation.

In a sports competition, a team might lose a powerful incentive to exert full effort if its final rank does not depend on the outcome of the matches still to be played. Therefore, the organiser should reduce the probability of such a situation to the extent possible. Our paper provides a classification scheme to identify these weakly (where one team is indifferent) or strongly (where both teams are indifferent) stakeless games. A statistical model is estimated to simulate the UEFA Champions League groups and compare the candidate schedules used in the 2021/22 season according to the competitiveness of the matches played in the last round(s). The option followed in four of the eight groups is found to be optimal under a wide set of parameters. Minimising the number of strongly stakeless matches is verified to be a likely goal in the computer draw of the fixture that remains hidden from the public.