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Optimal path planning is the problem of finding a valid sequence of states between a start and goal that optimizes an objective. Informed path planning algorithms order their search with problem-specific knowledge expressed as heuristics and can be orders of magnitude more efficient than uninformed algorithms. Heuristics are most effective when they are both accurate and computationally inexpensive to evaluate, but these are often conflicting characteristics. This makes the selection of appropriate heuristics difficult for many problems. This paper presents two almost-surely asymptotically optimal sampling-based path planning algorithms to address this challenge, Adaptively Informed Trees (AIT*) and Effort Informed Trees (EIT*). These algorithms use an asymmetric bidirectional search in which both searches continuously inform each other. This allows AIT* and EIT* to improve planning performance by simultaneously calculating and exploiting increasingly accurate, problem-specific heuristics. The benefits of AIT* and EIT* relative to other sampling-based algorithms are demonstrated on twelve problems in abstract, robotic, and biomedical domains optimizing path length and obstacle clearance. The experiments show that AIT* and EIT* outperform other algorithms on problems optimizing obstacle clearance, where a priori cost heuristics are often ineffective, and still perform well on problems minimizing path length, where such heuristics are often effective.

The problem of monotone submodular maximization has been studied extensively due to its wide range of applications. However, there are cases where one can only access the objective function in a distorted or noisy form because of the uncertain nature or the errors involved in the evaluation. This paper considers the problem of constrained monotone submodular maximization with noisy oracles introduced by [Hassidim et al., 2017]. For a cardinality constraint, we propose an algorithm achieving a near-optimal $\left(1-\frac{1}{e}-O(\varepsilon)\right)$-approximation guarantee (for arbitrary $\varepsilon > 0$) with only a polynomial number of queries to the noisy value oracle, which improves the exponential query complexity of [Singer et al., 2018]. For general matroid constraints, we show the first constant approximation algorithm in the presence of noise. Our main approaches are to design a novel local search framework that can handle the effect of noise and to construct certain smoothing surrogate functions for noise reduction.

We study the rank of sub-matrices arising out of kernel functions, $F(\pmb{x},\pmb{y}): \mathbb{R}^d \times \mathbb{R}^d \mapsto \mathbb{R}$, where $\pmb{x},\pmb{y} \in \mathbb{R}^d$ with $F(\pmb{x},\pmb{y})$ is smooth everywhere except along the line $\pmb{x}=\pmb{y}$. Such kernel functions are frequently encountered in a wide range of applications such as $N$ body problems, Green's functions, integral equations, geostatistics, kriging, Gaussian processes, etc. One of the challenges in dealing with these kernel functions is that the corresponding matrix associated with these kernels is large and dense and thereby, the computational cost of matrix operations is high. In this article, we prove new theorems bounding the numerical rank of sub-matrices arising out of these kernel functions. Under reasonably mild assumptions, we prove that the rank of certain sub-matrices is rank-deficient in finite precision. This rank depends on the dimension of the ambient space and also on the type of interaction between the hyper-cubes containing the corresponding set of particles. This rank structure can be leveraged to reduce the computational cost of certain matrix operations such as matrix-vector products, solving linear systems, etc. We also present numerical results on the growth of rank of certain sub-matrices in $1$D, $2$D, $3$D and $4$D, which, not surprisingly, agrees with the theoretical results.

Neural ordinary differential equations (Neural ODEs) model continuous time dynamics as differential equations parametrized with neural networks. Thanks to their modeling flexibility, they have been adopted for multiple tasks where the continuous time nature of the process is specially relevant, as in system identification and time series analysis. When applied in a control setting, it is possible to adapt their use to approximate optimal nonlinear feedback policies. This formulation follows the same approach as policy gradients in reinforcement learning, covering the case where the environment consists of known deterministic dynamics given by a system of differential equations. The white box nature of the model specification allows the direct calculation of policy gradients through sensitivity analysis, avoiding the inexact and inefficient gradient estimation through sampling. In this work we propose the use of a neural control policy posed as a Neural ODE to solve general nonlinear optimal control problems while satisfying both state and control constraints, which are crucial for real world scenarios. Since the state feedback policy partially modifies the model dynamics, the whole space phase of the system is reshaped upon the optimization. This approach is a sensible approximation to the historically intractable closed loop solution of nonlinear control problems that efficiently exploits the availability of a dynamical system model.

We propose a generalization of the synthetic control and synthetic interventions methodology to the dynamic treatment regime. We consider the estimation of unit-specific treatment effects from panel data collected via a dynamic treatment regime and in the presence of unobserved confounding. That is, each unit receives multiple treatments sequentially, based on an adaptive policy, which depends on a latent endogenously time-varying confounding state of the treated unit. Under a low-rank latent factor model assumption and a technical overlap assumption we propose an identification strategy for any unit-specific mean outcome under any sequence of interventions. The latent factor model we propose admits linear time-varying and time-invariant dynamical systems as special cases. Our approach can be seen as an identification strategy for structural nested mean models under a low-rank latent factor assumption on the blip effects. Our method, which we term "synthetic blip effects", is a backwards induction process, where the blip effect of a treatment at each period and for a target unit is recursively expressed as linear combinations of blip effects of a carefully chosen group of other units that received the designated treatment. Our work avoids the combinatorial explosion in the number of units that would be required by a vanilla application of prior synthetic control and synthetic intervention methods in such dynamic treatment regime settings.

Variable selection is crucial for sparse modeling in this age of big data. Missing values are common in data, and make variable selection more complicated. The approach of multiple imputation (MI) results in multiply imputed datasets for missing values, and has been widely applied in various variable selection procedures. However, directly performing variable selection on the whole MI data or bootstrapped MI data may not be worthy in terms of computation cost. To fast identify the active variables in the linear regression model, we propose the adaptive grafting procedure with three pooling rules on MI data. The proposed methods proceed iteratively, which starts from finding the active variables based on the complete case subset and then expand the working data matrix with both the number of active variables and available observations. A comprehensive simulation study shows the selection accuracy in different aspects and computational efficiency of the proposed methods. Two real-life examples illustrate the strength of the proposed methods.

We derive normal approximation results for a class of stabilizing functionals of binomial or Poisson point process, that are not necessarily expressible as sums of certain score functions. Our approach is based on a flexible notion of the add-one cost operator, which helps one to deal with the second-order cost operator via suitably appropriate first-order operators. We combine this flexible notion with the theory of strong stabilization to establish our results. We illustrate the applicability of our results by establishing normal approximation results for certain geometric and topological statistics arising frequently in practice. Several existing results also emerge as special cases of our approach.

Interferometry can measure the shape or the material density of a system that could not be measured otherwise by recording the difference between the phase change of a signal and a reference phase. This difference is always between $-\pi$ and $\pi$ while it is the absolute phase that is required to get a true measurement. There is a long history of methods designed to recover accurately this phase from the phase "wrapped" inside $]-\pi,\pi]$. However, noise and under-sampling limit the effectiveness of most techniques and require highly sophisticated algorithms that can process imperfect measurements. Ultimately, analysing successfully an interferogram amounts to pattern recognition, a task where radial basis function neural networks truly excel at. The proposed neural network is designed to unwrap the phase from two-dimensional interferograms, where aliasing, stemming from under-resolved regions, and noise levels are significant. The neural network can be trained in parallel and in three stages, using gradient-based supervised learning. Parallelism allows to handle relatively large data sets, but requires a supplemental step to synchronized the fully unwrapped phase across the different networks.

We introduce a Fourier-based fast algorithm for Gaussian process regression. It approximates a translationally-invariant covariance kernel by complex exponentials on an equispaced Cartesian frequency grid of $M$ nodes. This results in a weight-space $M\times M$ system matrix with Toeplitz structure, which can thus be applied to a vector in ${\mathcal O}(M \log{M})$ operations via the fast Fourier transform (FFT), independent of the number of data points $N$. The linear system can be set up in ${\mathcal O}(N + M \log{M})$ operations using nonuniform FFTs. This enables efficient massive-scale regression via an iterative solver, even for kernels with fat-tailed spectral densities (large $M$). We include a rigorous error analysis of the kernel approximation, the resulting accuracy (relative to "exact" GP regression), and the condition number. Numerical experiments for squared-exponential and Mat\'ern kernels in one, two and three dimensions often show 1-2 orders of magnitude acceleration over state-of-the-art rank-structured solvers at comparable accuracy. Our method allows 2D Mat\'ern-${\small \frac{3}{2}}$ regression from $N=10^9$ data points to be performed in 2 minutes on a standard desktop, with posterior mean accuracy $10^{-3}$. This opens up spatial statistics applications 100 times larger than previously possible.

Substantial progress has been made recently on developing provably accurate and efficient algorithms for low-rank matrix factorization via nonconvex optimization. While conventional wisdom often takes a dim view of nonconvex optimization algorithms due to their susceptibility to spurious local minima, simple iterative methods such as gradient descent have been remarkably successful in practice. The theoretical footings, however, had been largely lacking until recently. In this tutorial-style overview, we highlight the important role of statistical models in enabling efficient nonconvex optimization with performance guarantees. We review two contrasting approaches: (1) two-stage algorithms, which consist of a tailored initialization step followed by successive refinement; and (2) global landscape analysis and initialization-free algorithms. Several canonical matrix factorization problems are discussed, including but not limited to matrix sensing, phase retrieval, matrix completion, blind deconvolution, robust principal component analysis, phase synchronization, and joint alignment. Special care is taken to illustrate the key technical insights underlying their analyses. This article serves as a testament that the integrated consideration of optimization and statistics leads to fruitful research findings.