arXiv subjects

Kaizheng Wang

Publications and source records attributed to Kaizheng Wang.

53 records · Page 3Linked to original sources

arXiv2023

Robust state and protection-level estimation within tightly coupled GNSS/INS navigation system

In autonomous applications for mobility and transport, a high-rate and highly accurate vehicle-state estimation is achieved by fusing measurements of global navigation satellite systems (GNSS) and inertial sensors. The state estimation and its protection-level generation often suffer from satellite-signal disturbances in urban environments and subsequent poor parametrization of the satellite observables. Thus, we propose an innovative scheme involving an extended H_infinity filter (EHF) for robust state estimation and zonotope for the protection-level generation. This scheme is shown as part of a tightly coupled navigation system based on an inertial navigation system and aided by the GPS/Galileo dual-constellation satellite navigation system. Specifically, GNSS pseudorange and deltarange observables are utilized. The experimental results of post-processing a real-world dataset show significant advantages of EHF against a conventional extended Kalman filter regarding the navigation accuracy and robustness under various GNSS-measurement parametrizations and environmental circumstances. The zonotope-based protection-level calculation is proven valid, computationally affordable, and feasible for real-time implementations.

eess.SY↗

arXiv2023

Cascaded information enhancement and cross-modal attention feature fusion for multispectral pedestrian detection

Multispectral pedestrian detection is a technology designed to detect and locate pedestrians in Color and Thermal images, which has been widely used in automatic driving, video surveillance, etc. So far most available multispectral pedestrian detection algorithms only achieved limited success in pedestrian detection because of the lacking take into account the confusion of pedestrian information and background noise in Color and Thermal images. Here we propose a multispectral pedestrian detection algorithm, which mainly consists of a cascaded information enhancement module and a cross-modal attention feature fusion module. On the one hand, the cascaded information enhancement module adopts the channel and spatial attention mechanism to perform attention weighting on the features fused by the cascaded feature fusion block. Moreover, it multiplies the single-modal features with the attention weight element by element to enhance the pedestrian features in the single-modal and thus suppress the interference from the background. On the other hand, the cross-modal attention feature fusion module mines the features of both Color and Thermal modalities to complement each other, then the global features are constructed by adding the cross-modal complemented features element by element, which are attentionally weighted to achieve the effective fusion of the two modal features. Finally, the fused features are input into the detection head to detect and locate pedestrians. Extensive experiments have been performed on two improved versions of annotations (sanitized annotations and paired annotations) of the public dataset KAIST. The experimental results show that our method demonstrates a lower pedestrian miss rate and more accurate pedestrian detection boxes compared to the comparison method. Additionally, the ablation experiment also proved the effectiveness of each module designed in this paper.

cs.CV↗

arXiv2023

Learning Gaussian Mixtures Using the Wasserstein-Fisher-Rao Gradient Flow

Gaussian mixture models form a flexible and expressive parametric family of distributions that has found applications in a wide variety of applications. Unfortunately, fitting these models to data is a notoriously hard problem from a computational perspective. Currently, only moment-based methods enjoy theoretical guarantees while likelihood-based methods are dominated by heuristics such as Expectation-Maximization that are known to fail in simple examples. In this work, we propose a new algorithm to compute the nonparametric maximum likelihood estimator (NPMLE) in a Gaussian mixture model. Our method is based on gradient descent over the space of probability measures equipped with the Wasserstein-Fisher-Rao geometry for which we establish convergence guarantees. In practice, it can be approximated using an interacting particle system where the weight and location of particles are updated alternately. We conduct extensive numerical experiments to confirm the effectiveness of the proposed algorithm compared not only to classical benchmarks but also to similar gradient descent algorithms with respect to simpler geometries. In particular, these simulations illustrate the benefit of updating both weight and location of the interacting particles.

math.ST↗

arXiv2022

An introduction to optimization under uncertainty -- A short survey

Optimization equips engineers and scientists in a variety of fields with the ability to transcribe their problems into a generic formulation and receive optimal solutions with relative ease. Industries ranging from aerospace to robotics continue to benefit from advancements in optimization theory and the associated algorithmic developments. Nowadays, optimization is used in real time on autonomous systems acting in safety critical situations, such as self-driving vehicles. It has become increasingly more important to produce robust solutions by incorporating uncertainty into optimization programs. This paper provides a short survey about the state of the art in optimization under uncertainty. The paper begins with a brief overview of the main classes of optimization without uncertainty. The rest of the paper focuses on the different methods for handling both aleatoric and epistemic uncertainty. Many of the applications discussed in this paper are within the domain of control. The goal of this survey paper is to briefly touch upon the state of the art in a variety of different methods and refer the reader to other literature for more in-depth treatments of the topics discussed here.

cs.AI↗

arXiv2022

Adaptive Data Fusion for Multi-task Non-smooth Optimization

We study the problem of multi-task non-smooth optimization that arises ubiquitously in statistical learning, decision-making and risk management. We develop a data fusion approach that adaptively leverages commonalities among a large number of objectives to improve sample efficiency while tackling their unknown heterogeneities. We provide sharp statistical guarantees for our approach. Numerical experiments on both synthetic and real data demonstrate significant advantages of our approach over benchmarks.

stat.ML↗

arXiv2022

An $\ell_p$ theory of PCA and spectral clustering

Principal Component Analysis (PCA) is a powerful tool in statistics and machine learning. While existing study of PCA focuses on the recovery of principal components and their associated eigenvalues, there are few precise characterizations of individual principal component scores that yield low-dimensional embedding of samples. That hinders the analysis of various spectral methods. In this paper, we first develop an $\ell_p$ perturbation theory for a hollowed version of PCA in Hilbert spaces which provably improves upon the vanilla PCA in the presence of heteroscedastic noises. Through a novel $\ell_p$ analysis of eigenvectors, we investigate entrywise behaviors of principal component score vectors and show that they can be approximated by linear functionals of the Gram matrix in $\ell_p$ norm, which includes $\ell_2$ and $\ell_\infty$ as special examples. For sub-Gaussian mixture models, the choice of $p$ giving optimal bounds depends on the signal-to-noise ratio, which further yields optimality guarantees for spectral clustering. For contextual community detection, the $\ell_p$ theory leads to a simple spectral algorithm that achieves the information threshold for exact recovery. These also provide optimal recovery results for Gaussian mixture and stochastic block models as special cases.

math.ST↗

arXiv2021

Clustering a Mixture of Gaussians with Unknown Covariance

We investigate a clustering problem with data from a mixture of Gaussians that share a common but unknown, and potentially ill-conditioned, covariance matrix. We start by considering Gaussian mixtures with two equally-sized components and derive a Max-Cut integer program based on maximum likelihood estimation. We prove its solutions achieve the optimal misclassification rate when the number of samples grows linearly in the dimension, up to a logarithmic factor. However, solving the Max-cut problem appears to be computationally intractable. To overcome this, we develop an efficient spectral algorithm that attains the optimal rate but requires a quadratic sample size. Although this sample complexity is worse than that of the Max-cut problem, we conjecture that no polynomial-time method can perform better. Furthermore, we gather numerical and theoretical evidence that supports the existence of a statistical-computational gap. Finally, we generalize the Max-Cut program to a $k$-means program that handles multi-component mixtures with possibly unequal weights. It enjoys similar optimality guarantees for mixtures of distributions that satisfy a transportation-cost inequality, encompassing Gaussian and strongly log-concave distributions.

stat.ML↗

arXiv2021

Efficient Clustering for Stretched Mixtures: Landscape and Optimality

This paper considers a canonical clustering problem where one receives unlabeled samples drawn from a balanced mixture of two elliptical distributions and aims for a classifier to estimate the labels. Many popular methods including PCA and k-means require individual components of the mixture to be somewhat spherical, and perform poorly when they are stretched. To overcome this issue, we propose a non-convex program seeking for an affine transform to turn the data into a one-dimensional point cloud concentrating around $-1$ and $1$, after which clustering becomes easy. Our theoretical contributions are two-fold: (1) we show that the non-convex loss function exhibits desirable geometric properties when the sample size exceeds some constant multiple of the dimension, and (2) we leverage this to prove that an efficient first-order algorithm achieves near-optimal statistical precision without good initialization. We also propose a general methodology for clustering with flexible choices of feature transforms and loss objectives.

stat.ML↗

arXiv2021

Communication-Efficient Accurate Statistical Estimation

When the data are stored in a distributed manner, direct application of traditional statistical inference procedures is often prohibitive due to communication cost and privacy concerns. This paper develops and investigates two Communication-Efficient Accurate Statistical Estimators (CEASE), implemented through iterative algorithms for distributed optimization. In each iteration, node machines carry out computation in parallel and communicate with the central processor, which then broadcasts aggregated information to node machines for new updates. The algorithms adapt to the similarity among loss functions on node machines, and converge rapidly when each node machine has large enough sample size. Moreover, they do not require good initialization and enjoy linear converge guarantees under general conditions. The contraction rate of optimization errors is presented explicitly, with dependence on the local sample size unveiled. In addition, the improved statistical accuracy per iteration is derived. By regarding the proposed method as a multi-step statistical estimator, we show that statistical efficiency can be achieved in finite steps in typical statistical applications. In addition, we give the conditions under which the one-step CEASE estimator is statistically efficient. Extensive numerical experiments on both synthetic and real data validate the theoretical results and demonstrate the superior performance of our algorithms.

stat.ML↗

arXiv2020

Some compact notations for concentration inequalities and user-friendly results

This paper presents compact notations for concentration inequalities and convenient results to streamline probabilistic analysis. The new expressions describe the typical sizes and tails of random variables, allowing for simple operations without heavy use of inessential constants. They bridge classical asymptotic notations and modern non-asymptotic tail bounds together. Examples of different kinds demonstrate their efficacy.

math.ST↗

arXiv2019

Implicit Regularization in Nonconvex Statistical Estimation: Gradient Descent Converges Linearly for Phase Retrieval, Matrix Completion, and Blind Deconvolution

Recent years have seen a flurry of activities in designing provably efficient nonconvex procedures for solving statistical estimation problems. Due to the highly nonconvex nature of the empirical loss, state-of-the-art procedures often require proper regularization (e.g. trimming, regularized cost, projection) in order to guarantee fast convergence. For vanilla procedures such as gradient descent, however, prior theory either recommends highly conservative learning rates to avoid overshooting, or completely lacks performance guarantees. This paper uncovers a striking phenomenon in nonconvex optimization: even in the absence of explicit regularization, gradient descent enforces proper regularization implicitly under various statistical models. In fact, gradient descent follows a trajectory staying within a basin that enjoys nice geometry, consisting of points incoherent with the sampling mechanism. This "implicit regularization" feature allows gradient descent to proceed in a far more aggressive fashion without overshooting, which in turn results in substantial computational savings. Focusing on three fundamental statistical estimation problems, i.e. phase retrieval, low-rank matrix completion, and blind deconvolution, we establish that gradient descent achieves near-optimal statistical and computational guarantees without explicit regularization. In particular, by marrying statistical modeling with generic optimization theory, we develop a general recipe for analyzing the trajectories of iterative algorithms via a leave-one-out perturbation argument. As a byproduct, for noisy matrix completion, we demonstrate that gradient descent achieves near-optimal error control --- measured entrywise and by the spectral norm --- which might be of independent interest.

cs.LG↗

arXiv2019

Entrywise Eigenvector Analysis of Random Matrices with Low Expected Rank

Recovering low-rank structures via eigenvector perturbation analysis is a common problem in statistical machine learning, such as in factor analysis, community detection, ranking, matrix completion, among others. While a large variety of bounds are available for average errors between empirical and population statistics of eigenvectors, few results are tight for entrywise analyses, which are critical for a number of problems such as community detection. This paper investigates entrywise behaviors of eigenvectors for a large class of random matrices whose expectations are low-rank, which helps settle the conjecture in Abbe et al. (2014b) that the spectral algorithm achieves exact recovery in the stochastic block model without any trimming or cleaning steps. The key is a first-order approximation of eigenvectors under the $\ell_\infty$ norm: $$u_k \approx \frac{A u_k^*}{λ_k^*},$$ where $\{u_k\}$ and $\{u_k^*\}$ are eigenvectors of a random matrix $A$ and its expectation $\mathbb{E} A$, respectively. The fact that the approximation is both tight and linear in $A$ facilitates sharp comparisons between $u_k$ and $u_k^*$. In particular, it allows for comparing the signs of $u_k$ and $u_k^*$ even if $\| u_k - u_k^*\|_{\infty}$ is large. The results are further extended to perturbations of eigenspaces, yielding new $\ell_\infty$-type bounds for synchronization ($\mathbb{Z}_2$-spiked Wigner model) and noisy matrix completion.

math.ST↗

arXiv2018

Factor-Adjusted Regularized Model Selection

This paper studies model selection consistency for high dimensional sparse regression when data exhibits both cross-sectional and serial dependency. Most commonly-used model selection methods fail to consistently recover the true model when the covariates are highly correlated. Motivated by econometric studies, we consider the case where covariate dependence can be reduced through factor model, and propose a consistent strategy named Factor-Adjusted Regularized Model Selection (FarmSelect). By separating the latent factors from idiosyncratic components, we transform the problem from model selection with highly correlated covariates to that with weakly correlated variables. Model selection consistency as well as optimal rates of convergence are obtained under mild conditions. Numerical studies demonstrate the nice finite sample performance in terms of both model selection and out-of-sample prediction. Moreover, our method is flexible in a sense that it pays no price for weakly correlated and uncorrelated cases. Our method is applicable to a wide range of high dimensional sparse regression problems. An R-package FarmSelect is also provided for implementation.

stat.ME↗

arXiv2018

Robust high dimensional factor models with applications to statistical machine learning

Factor models are a class of powerful statistical models that have been widely used to deal with dependent measurements that arise frequently from various applications from genomics and neuroscience to economics and finance. As data are collected at an ever-growing scale, statistical machine learning faces some new challenges: high dimensionality, strong dependence among observed variables, heavy-tailed variables and heterogeneity. High-dimensional robust factor analysis serves as a powerful toolkit to conquer these challenges. This paper gives a selective overview on recent advance on high-dimensional factor models and their applications to statistics including Factor-Adjusted Robust Model selection (FarmSelect) and Factor-Adjusted Robust Multiple testing (FarmTest). We show that classical methods, especially principal component analysis (PCA), can be tailored to many new problems and provide powerful tools for statistical estimation and inference. We highlight PCA and its connections to matrix perturbation theory, robust statistics, random projection, false discovery rate, etc., and illustrate through several applications how insights from these fields yield solutions to modern challenges. We also present far-reaching connections between factor models and popular statistical learning problems, including network analysis and low-rank matrix recovery.

stat.ME↗

arXiv2018

Spectral Method and Regularized MLE Are Both Optimal for Top-$K$ Ranking

This paper is concerned with the problem of top-$K$ ranking from pairwise comparisons. Given a collection of $n$ items and a few pairwise comparisons across them, one wishes to identify the set of $K$ items that receive the highest ranks. To tackle this problem, we adopt the logistic parametric model --- the Bradley-Terry-Luce model, where each item is assigned a latent preference score, and where the outcome of each pairwise comparison depends solely on the relative scores of the two items involved. Recent works have made significant progress towards characterizing the performance (e.g. the mean square error for estimating the scores) of several classical methods, including the spectral method and the maximum likelihood estimator (MLE). However, where they stand regarding top-$K$ ranking remains unsettled. We demonstrate that under a natural random sampling model, the spectral method alone, or the regularized MLE alone, is minimax optimal in terms of the sample complexity --- the number of paired comparisons needed to ensure exact top-$K$ identification, for the fixed dynamic range regime. This is accomplished via optimal control of the entrywise error of the score estimates. We complement our theoretical studies by numerical experiments, confirming that both methods yield low entrywise errors for estimating the underlying scores. Our theory is established via a novel leave-one-out trick, which proves effective for analyzing both iterative and non-iterative procedures. Along the way, we derive an elementary eigenvector perturbation bound for probability transition matrices, which parallels the Davis-Kahan $\sinΘ$ theorem for symmetric matrices. This also allows us to close the gap between the $\ell_2$ error upper bound for the spectral method and the minimax lower limit.

stat.ML↗

arXiv2018

Distributed Estimation of Principal Eigenspaces

Principal component analysis (PCA) is fundamental to statistical machine learning. It extracts latent principal factors that contribute to the most variation of the data. When data are stored across multiple machines, however, communication cost can prohibit the computation of PCA in a central location and distributed algorithms for PCA are thus needed. This paper proposes and studies a distributed PCA algorithm: each node machine computes the top $K$ eigenvectors and transmits them to the central server; the central server then aggregates the information from all the node machines and conducts a PCA based on the aggregated information. We investigate the bias and variance for the resulting distributed estimator of the top $K$ eigenvectors. In particular, we show that for distributions with symmetric innovation, the empirical top eigenspaces are unbiased and hence the distributed PCA is "unbiased". We derive the rate of convergence for distributed PCA estimators, which depends explicitly on the effective rank of covariance, eigen-gap, and the number of machines. We show that when the number of machines is not unreasonably large, the distributed PCA performs as well as the whole sample PCA, even without full access of whole data. The theoretical results are verified by an extensive simulation study. We also extend our analysis to the heterogeneous case where the population covariance matrices are different across local machines but share similar top eigen-structures.

stat.CO↗

arXiv2016

Stochastic Representations for the Wave Equation on Graphs and their Scaling Limits

This paper is devoted to an interacting particle system that provides probabilistic interpretation of the wave equation on graphs. A Feynman-Kac-type formula is established, connecting the expectation of the process with the wave equation on graphs. Non-asymptotic $L^2$ estimates are presented. It is then shown that the high-density hydrodynamic limit of the system is given by the wave equation in Euclidean space. The sharpness of scaling limit result is demonstrated by a phase transition phenomenon.

math.PR↗