The goal of continual learning (CL) is to train a model that can solve multiple tasks presented sequentially. Recent CL approaches have achieved strong performance by leveraging large pre-trained models that generalize well to downstream tasks. However, such methods lack theoretical guarantees, making them prone to unexpected failures. Conversely, principled CL approaches often fail to achieve competitive performance. In this work, we bridge this gap between theory and practice by integrating an empirically strong approach (RanPAC) into a principled framework, Ideal Continual Learner (ICL), designed to prevent forgetting. Specifically, we lift pre-trained features into a higher dimensional space and formulate an over-parametrized minimum-norm least-squares problem. We find that the lifted features are highly ill-conditioned, potentially leading to large training errors (numerical instability) and increased generalization errors (double descent). We address these challenges by continually truncating the singular value decomposition (SVD) of the lifted features. Our approach, termed ICL-TSVD, is stable with respect to the choice of hyperparameters, can handle hundreds of tasks, and outperforms state-of-the-art CL methods on multiple datasets. Importantly, our method satisfies a recurrence relation throughout its continual learning process, which allows us to prove it maintains small training and generalization errors by appropriately truncating a fraction of SVD factors. This results in a stable continual learning method with strong empirical performance and theoretical guarantees.

Given an input set of $3$D point pairs, the goal of outlier-robust $3$D registration is to compute some rotation and translation that align as many point pairs as possible. This is an important problem in computer vision, for which many highly accurate approaches have been recently proposed. Despite their impressive performance, these approaches lack scalability, often overflowing the $16$GB of memory of a standard laptop to handle roughly $30,000$ point pairs. In this paper, we propose a $3$D registration approach that can process more than ten million ($10^7$) point pairs with over $99\%$ random outliers. Moreover, our method is efficient, entails low memory costs, and maintains high accuracy at the same time. We call our method TEAR, as it involves minimizing an outlier-robust loss that computes Truncated Entry-wise Absolute Residuals. To minimize this loss, we decompose the original $6$-dimensional problem into two subproblems of dimensions $3$ and $2$, respectively, solved in succession to global optimality via a customized branch-and-bound method. While branch-and-bound is often slow and unscalable, this does not apply to TEAR as we propose novel bounding functions that are tight and computationally efficient. Experiments on various datasets are conducted to validate the scalability and efficiency of our method.

Estimating the rigid transformation with 6 degrees of freedom based on a putative 3D correspondence set is a crucial procedure in point cloud registration. Existing correspondence identification methods usually lead to large outlier ratios ($>$ 95 $\%$ is common), underscoring the significance of robust registration methods. Many researchers turn to parameter search-based strategies (e.g., Branch-and-Bround) for robust registration. Although related methods show high robustness, their efficiency is limited to the high-dimensional search space. This paper proposes a heuristics-guided parameter search strategy to accelerate the search while maintaining high robustness. We first sample some correspondences (i.e., heuristics) and then just need to sequentially search the feasible regions that make each sample an inlier. Our strategy largely reduces the search space and can guarantee accuracy with only a few inlier samples, therefore enjoying an excellent trade-off between efficiency and robustness. Since directly parameterizing the 6-dimensional nonlinear feasible region for efficient search is intractable, we construct a three-stage decomposition pipeline to reparameterize the feasible region, resulting in three lower-dimensional sub-problems that are easily solvable via our strategy. Besides reducing the searching dimension, our decomposition enables the leverage of 1-dimensional interval stabbing at all three stages for searching acceleration. Moreover, we propose a valid sampling strategy to guarantee our sampling effectiveness, and a compatibility verification setup to further accelerate our search. Extensive experiments on both simulated and real-world datasets demonstrate that our approach exhibits comparable robustness with state-of-the-art methods while achieving a significant efficiency boost.

The goal of continual learning is to find a model that solves multiple learning tasks which are presented sequentially to the learner. A key challenge in this setting is that the learner may forget how to solve a previous task when learning a new task, a phenomenon known as catastrophic forgetting. To address this challenge, many practical methods have been proposed, including memory-based, regularization-based, and expansion-based methods. However, a rigorous theoretical understanding of these methods remains elusive. This paper aims to bridge this gap between theory and practice by proposing a new continual learning framework called Ideal Continual Learner (ICL), which is guaranteed to avoid catastrophic forgetting by construction. We show that ICL unifies multiple well-established continual learning methods and gives new theoretical insights into the strengths and weaknesses of these methods. We also derive generalization bounds for ICL which allow us to theoretically quantify how rehearsal affects generalization. Finally, we connect ICL to several classic subjects and research topics of modern interest, which allows us to make historical remarks and inspire future directions.

We consider the problem of principal component analysis from a data matrix where the entries of each column have undergone some unknown permutation, termed Unlabeled Principal Component Analysis (UPCA). Using algebraic geometry, we establish that for generic enough data, and up to a permutation of the coordinates of the ambient space, there is a unique subspace of minimal dimension that explains the data. We show that a permutation-invariant system of polynomial equations has finitely many solutions, with each solution corresponding to a row permutation of the ground-truth data matrix. Allowing for missing entries on top of permutations leads to the problem of unlabeled matrix completion, for which we give theoretical results of similar flavor. We also propose a two-stage algorithmic pipeline for UPCA suitable for the practically relevant case where only a fraction of the data has been permuted. Stage-I of this pipeline employs robust-PCA methods to estimate the ground-truth column-space. Equipped with the column-space, stage-II applies methods for linear regression without correspondences to restore the permuted data. A computational study reveals encouraging findings, including the ability of UPCA to handle face images from the Extended Yale-B database with arbitrarily permuted patches of arbitrary size in $0.3$ seconds on a standard desktop computer.

Homomorphic sensing is a recent algebraic-geometric framework that studies the unique recovery of points in a linear subspace from their images under a given collection of linear transformations. It has been successful in interpreting such a recovery in the case of permutations composed by coordinate projections, an important instance in applications known as unlabeled sensing, which models data that are out of order and have missing values. In this paper we make several fundamental contributions. First, we extend the homomorphic sensing framework from a single subspace to a subspace arrangement. Second, when specialized to a single subspace the new conditions are simpler and tighter. Third, as a natural consequence of our main theorem we obtain in a unified way recovery conditions for real phase retrieval, typically known via diverse techniques in the literature, as well as novel conditions for sparse and unsigned versions of linear regression without correspondences and unlabeled sensing. Finally, we prove that the homomorphic sensing property is locally stable to noise.

Shuffled linear regression is the problem of performing a linear regression fit to a dataset for which the correspondences between the independent samples and the observations are unknown. Such a problem arises in diverse domains such as computer vision, communications and biology. In its simplest form, it is tantamount to solving a linear system of equations, for which the entries of the right hand side vector have been permuted. This type of data corruption renders the linear regression task considerably harder, even in the absence of other corruptions, such as noise, outliers or missing entries. Existing methods are either applicable only to noiseless data or they are very sensitive to initialization and work only for partially shuffled data. In this paper we address both of these issues via an algebraic geometric approach, which uses symmetric polynomials to extract permutation-invariant constraints that the parameters $\boldsymbol{x} \in \mathbb{R}^n$ of the linear regression model must satisfy. This naturally leads to a polynomial system of $n$ equations in $n$ unknowns, which contains $\boldsymbol{x}$ in its root locus. Using the machinery of algebraic geometry we prove that as long as the independent samples are generic, this polynomial system is always consistent with at most $n!$ complex roots, regardless of any type of corruption inflicted on the observations. The algorithmic implication of this fact is that one can always solve this polynomial system and use its most suitable root as initialization to the Expectation Maximization algorithm. To the best of our knowledge, the resulting method is the first working solution for small values of $n$ able to handle thousands of fully shuffled noisy observations in milliseconds.