arXiv subjects

Mattia Zorzi

Publications and source records attributed to Mattia Zorzi.

67 records · Page 4Linked to original sources

arXiv2016

Online semi-parametric learning for inverse dynamics modeling

This paper presents a semi-parametric algorithm for online learning of a robot inverse dynamics model. It combines the strength of the parametric and non-parametric modeling. The former exploits the rigid body dynamics equa- tion, while the latter exploits a suitable kernel function. We provide an extensive comparison with other methods from the literature using real data from the iCub humanoid robot. In doing so we also compare two different techniques, namely cross validation and marginal likelihood optimization, for estimating the hyperparameters of the kernel function.

math.OC↗

arXiv2015

On the convergence of a Risk Sensitive like Filter

In this paper, we analyze the convergence of a risk sensitive like filter where the risk sensitivity parameter is time varying. Such filter has a Kalman like structure and its gain matrix is updated according to a Riccati like iteration. We show that the iteration converges to a fixed point by using the contraction analysis.

math.OC↗

arXiv2015

A Bayesian Approach to Sparse plus Low rank Network Identification

We consider the problem of modeling multivariate time series with parsimonious dynamical models which can be represented as sparse dynamic Bayesian networks with few latent nodes. This structure translates into a sparse plus low rank model. In this paper, we propose a Gaussian regression approach to identify such a model.

math.OC↗

arXiv2015

Factor Analysis of Moving Average Processes

The paper considers an extension of factor analysis to moving average processes. The problem is formulated as a rank minimization of a suitable spectral density. It is shown that it can be adequately approximated via a trace norm convex relaxation.

math.OC↗

arXiv2015

An Interpretation of the Dual Problem of the THREE-like Approaches

Spectral estimation can be preformed using the so called THREE-like approach. Such method leads to a convex optimization problem whose solution is characterized through its dual problem. In this paper, we show that the dual problem can be seen as a new parametric spectral estimation problem. This interpretation implies that the THREE-like solution is optimal in terms of closeness to the correlogram over a certain parametric class of spectral densities, enriching in this way its meaningfulness.

math.OC↗

arXiv2015

Sparse plus low-rank autoregressive identification in neuroimaging time series

This paper considers the problem of identifying multivariate autoregressive (AR) sparse plus low-rank graphical models. Based on the corresponding problem formulation recently presented, we use the alternating direction method of multipliers (ADMM) to efficiently solve it and scale it to sizes encountered in neuroimaging applications. We apply this decomposition on synthetic and real neuroimaging datasets with a specific focus on the information encoded in the low-rank structure of our model. In particular, we illustrate that this information captures the spatio-temporal structure of the original data, generalizing classical component analysis approaches.

cs.LG↗

arXiv2015

A New Recursive Least-Squares Method with Multiple Forgetting Schemes

We propose a recursive least-squares method with multiple forgetting schemes to track time-varying model parameters which change with different rates. Our approach hinges on the reformulation of the classic recursive least-squares with forgetting scheme as a regularized least squares problem. A simulation study shows the effectiveness of the proposed method.

math.OC↗

arXiv2014

AR Identification of Latent-variable Graphical Models

The paper proposes an identification procedure for autoregressive gaussian stationary stochastic processes wherein the manifest (or observed) variables are mostly related through a limited number of latent (or hidden) variables. The method exploits the sparse plus low-rank decomposition of the inverse of the manifest spectral density and the efficient convex relaxations recently proposed for such decomposition.

math.OC↗

arXiv2014

Multivariate Spectral Estimation based on the concept of Optimal Prediction

In this technical note, we deal with a spectrum approximation problem arising in THREE-like multivariate spectral estimation approaches. The solution to the problem minimizes a suitable divergence index with respect to an a priori spectral density. We derive a new divergence family between multivariate spectral densities which takes root in the prediction theory. Under mild assumptions on the a priori spectral density, the approximation problem, based on this new divergence family, admits a family of solutions. Moreover, an upper bound on the complexity degree of these solutions is provided.

math.OC↗

arXiv2013

A new family of high-resolution multivariate spectral estimators

In this paper, we extend the Beta divergence family to multivariate power spectral densities. Similarly to the scalar case, we show that it smoothly connects the multivariate Kullback-Leibler divergence with the multivariate Itakura-Saito distance. We successively study a spectrum approximation problem, based on the Beta divergence family, which is related to a multivariate extension of the THREE spectral estimation technique. It is then possible to characterize a family of solutions to the problem. An upper bound on the complexity of these solutions will also be provided. Simulations suggest that the most suitable solution of this family depends on the specific features required from the estimation problem.

math.OC↗

arXiv2013

Rational approximations of spectral densities based on the Alpha divergence

We approximate a given rational spectral density by one that is consistent with prescribed second-order statistics. Such an approximation is obtained by minimizing a suitable distance from the given spectrum and under the constraints corresponding to imposing the given second-order statistics. Here, we consider the Alpha divergence family as a distance measure. We show that the corresponding approximation problem leads to a family of rational solutions. Secondly, such a family contains the solution which generalizes the Kullback-Leibler solution proposed by Georgiou and Lindquist in 2003. Finally, numerical simulations suggest that this family contains solutions close to the non-rational solution given by the principle of minimum discrimination information.

math.OC↗

arXiv2013

A Contraction Analysis of the Convergence of Risk-Sensitive Filters

A contraction analysis of risk-sensitive Riccati equations is proposed. When the state-space model is reachable and observable, a block-update implementation of the risk-sensitive filter is used to show that the N-fold composition of the Riccati map is strictly contractive with respect to the Riemannian metric of positive definite matrices, when N is larger than the number of states. The range of values of the risk-sensitivity parameter for which the map remains contractive can be estimated a priori. It is also found that a second condition must be imposed on the risk-sensitivity parameter and on the initial error variance to ensure that the solution of the risk-sensitive Riccati equation remains positive definite at all times. The two conditions obtained can be viewed as extending to the multivariable case an earlier analysis of Whittle for the scalar case.

math.OC↗

arXiv2013

Minimum Relative Entropy for Quantum Estimation: Feasibility and General Solution

We propose a general framework for solving quantum state estimation problems using the minimum relative entropy criterion. A convex optimization approach allows us to decide the feasibility of the problem given the data and, whenever necessary, to relax the constraints in order to allow for a physically admissible solution. Building on these results, the variational analysis can be completed ensuring existence and uniqueness of the optimum. The latter can then be computed by standard, efficient standard algorithms for convex optimization, without resorting to approximate methods or restrictive assumptions on its rank.

quant-ph↗