Neural Information Processing Systems http://nips.cc/

Joint matrix triangularization is often used for estimating the joint eigenstructure of a set M of matrices, with applications in signal processing and machine learning. We consider the problem of approximate joint matrix triangularization when the matrices in M are jointly diagonalizable and real, but we only observe a set M' of noise perturbed versions of the matrices in M. Our main result is a first-order upper bound on the distance between any approximate joint triangularizer of the matrices in M' and any exact joint triangularizer of the matrices in M. The bound depends only on the observable matrices in M' and the noise level. In particular, it does not depend on optimization specific properties of the triangularizer, such as its proximity to critical points, that are typical of existing bounds in the literature. To our knowledge, this is the first a posteriori bound for joint matrix decomposition. We demonstrate the bound on synthetic data for which the ground truth is known.

Neural Information Processing Systems http://nips.cc/

Neural Information Processing Systems http://nips.cc/

Neural Information Processing Systems http://nips.cc/

We consider cooperative multi-agent consensus optimization problems over anundirected network of agents, where only those agents connected by an edgecan directly communicate. The objective is to minimize the sum of agent-specific composite convex functions over agent-specific private conic constraintsets; hence, the optimal consensus decision should lie in the intersection of theseprivate sets. We provide convergence rates in sub-optimality, infeasibility andconsensus violation; examine the effect of underlying network topology on theconvergence rates of the proposed decentralized algorithms; and show how to ex-tend these methods to handle time-varying communication networks.

Neural Information Processing Systems http://nips.cc/

We consider the problem of building continuous occupancy representations in dynamic environments for robotics applications. The problem has hardly been discussed previously due to the complexity of patterns in urban environments, which have both spatial and temporal dependencies. We address the problem as learning a kernel classifier on an efficient feature space. The key novelty of our approach is the incorporation of variations in the time domain into the spatial domain. We propose a method to propagate motion uncertainty into the kernel using a hierarchical model. The main benefit of this approach is that it can directly predict the occupancy state of the map in the future from past observations, being a valuable tool for robot trajectory planning under uncertainty. Our approach preserves the main computational benefits of static Hilbert maps -- using stochastic gradient descent for fast optimization of model parameters and incremental updates as new data are captured. Experiments conducted in road intersections of an urban environment demonstrated that spatio-temporal Hilbert maps can accurately model changes in the map while outperforming other techniques on various aspects.

Neural Information Processing Systems http://nips.cc/

Neural Information Processing Systems http://nips.cc/