arXiv subjects

Yingjian Wang

Publications and source records attributed to Yingjian Wang.

21 records · Page 2Linked to original sources

arXiv2020

Mapless-Planner: A Robust and Fast Planning Framework for Aggressive Autonomous Flight without Map Fusion

Maintaining a map online is resource-consuming while a robust navigation system usually needs environment abstraction via a well-fused map. In this paper, we propose a mapless planner which directly conducts such abstraction on the unfused sensor data. A limited-memory data structure with a reliable proximity query algorithm is proposed for maintaining raw historical information. A sampling-based scheme is designed to extract the free-space skeleton. A smart waypoint selection strategy enables to generate high-quality trajectories within the resultant flight corridors. Our planner differs from other mapless ones in that it can abstract and exploit the environment information efficiently. The online replan consistency and success rate are both significantly improved against conventional mapless methods.

cs.RO↗

arXiv2020

Distributed Bayesian clustering using finite mixture of mixtures

In many modern applications, there is interest in analyzing enormous data sets that cannot be easily moved across computers or loaded into memory on a single computer. In such settings, it is very common to be interested in clustering. Existing distributed clustering algorithms are mostly distance or density based without a likelihood specification, precluding the possibility of formal statistical inference. Model-based clustering allows statistical inference, yet research on distributed inference has emphasized nonparametric Bayesian mixture models over finite mixture models. To fill this gap, we introduce a nearly embarrassingly parallel algorithm for clustering under a Bayesian overfitted finite mixture of Gaussian mixtures, which we term distributed Bayesian clustering (DIB-C). DIB-C can flexibly accommodate data sets with various shapes (e.g. skewed or multi-modal). With data randomly partitioned and distributed, we first run Markov chain Monte Carlo in an embarrassingly parallel manner to obtain local clustering draws and then refine across workers for a final clustering estimate based on any loss function on the space of partitions. DIB-C can also estimate cluster densities, quickly classify new subjects and provide a posterior predictive distribution. Both simulation studies and real data applications show superior performance of DIB-C in terms of robustness and computational efficiency.

stat.CO↗

arXiv2012

Levy Measure Decompositions for the Beta and Gamma Processes

We develop new representations for the Levy measures of the beta and gamma processes. These representations are manifested in terms of an infinite sum of well-behaved (proper) beta and gamma distributions. Further, we demonstrate how these infinite sums may be truncated in practice, and explicitly characterize truncation errors. We also perform an analysis of the characteristics of posterior distributions, based on the proposed decompositions. The decompositions provide new insights into the beta and gamma processes (and their generalizations), and we demonstrate how the proposed representation unifies some properties of the two. This paper is meant to provide a rigorous foundation for and new perspectives on Levy processes, as these are of increasing importance in machine learning.

stat.ME↗