Gaussian mixture models (GMMs) are fundamental to machine learning due to their flexibility as approximating densities. However, uncertainty quantification of GMMs remains a challenge as differential entropy lacks a closed form.

All experiments are run on Intel Xeon ICX Platinum 8358 and GeForce RTX 3090.

In contrast, we directly evaluate the matrix equations which arise from applying variable elimination on the Lagrange multiplier terms in the (differential) KKT system.

In latent diffusion models (LDMs), denoising diffusion process efficiently takes place on latent space whose dimension is lower than that of pixel space. Decoder is typically used to transform the representation in latent space to that in pixel space. While a decoder is assumed to have an encoder as an accurate inverse, exact encoder-decoder pair rarely exists in practice even though applications often require precise inversion of decoder. In other words, encoder is not the left-inverse but the right-inverse of the decoder; decoder inversion seeks the left-inverse. Prior works for decoder inversion in LDMs employed gradient descent inspired by inversions of generative adversarial networks. However, gradient-based methods require larger GPU memory and longer computation time for larger latent space.

We consider proximal splitting algorithms for convex optimization problems over matrices. A significant computational bottleneck in many of these algorithms is the need to compute a full eigenvalue or singular value decomposition at each iteration for the evaluation of a proximal operator.In this paper we propose to use an old and surprisingly simple method due to Jacobi to compute these eigenvalue and singular value decompositions, and we demonstrate that it can lead to substantial gains in terms of computation time compared to standard approaches. We rely on three essential properties of this method: (a) its ability to exploit an approximate decomposition as an initial point, which in the case of iterative optimization algorithms can be obtained from the previous iterate; (b) its parallel nature which makes it a great fit for hardware accelerators such as GPUs, now common in machine learning, and (c) its simple termination criterion which allows us to trade-off accuracy with computation time. We demonstrate the efficacy of this approach on a variety of algorithms and problems, and show that, on a GPU, we can obtain 5 to 10x speed-ups in the evaluation of proximal operators compared to standard CPU or GPU linear algebra routines. Our findings are supported by new theoretical results providing guarantees on the approximation quality of proximal operators obtained using approximate eigenvalue or singular value decompositions.

Almost all scientific data have uncertainties originating from different sources. Gaussian process regression (GPR) models are a natural way to model data with Gaussian-distributed uncertainties. GPR also has the benefit of reducing I/O bandwidth and storage requirements for large scientific simulations. However, the reconstruction from the GPR models suffers from high computation complexity. To make the situation worse, classic approaches for visualizing the data uncertainties, like probabilistic marching cubes, are also computationally very expensive, especially for data of high resolutions. In this paper, we accelerate the level-crossing probability calculation efficiency on GPR models by subdividing the data spatially into a hierarchical data structure and only reconstructing values adaptively in the regions that have a non-zero probability. For each region, leveraging the known GPR kernel and the saved data observations, we propose a novel approach to efficiently calculate an upper bound for the level-crossing probability inside the region and use this upper bound to make the subdivision and reconstruction decisions. We demonstrate that our value occurrence probability estimation is accurate with a low computation cost by experiments that calculate the level-crossing probability fields on different datasets.

This paper presents a real-time control framework for nonlinear pure-feedback systems with unknown dynamics to satisfy reach-avoid-stay tasks within a prescribed time in dynamic environments. To achieve this, we introduce a real-time spatiotemporal tube (STT) framework. An STT is defined as a time-varying ball in the state space whose center and radius adapt online using only real-time sensory input. A closed-form, approximation-free control law is then derived to constrain the system output within the STT, ensuring safety and task satisfaction. We provide formal guarantees for obstacle avoidance and on-time task completion. The effectiveness and scalability of the framework are demonstrated through simulations and hardware experiments on a mobile robot and an aerial vehicle, navigating in cluttered dynamic environments.

Abstract-- Hard-constraint trajectory planners often rely on commercial solvers and demand substantial computational resources. Existing soft-constraint methods achieve faster computation, but either (1) decouple spatial and temporal optimization or (2) restrict the search space. T o overcome these limitations, we introduce MIGHTY, a Hermite spline-based planner that performs spatiotemporal optimization while fully leveraging the continuous search space of a spline. In simulation, MIGHTY achieves a 9.3% reduction in computation time and a 13.1% reduction in travel time over state-of-the-art baselines, with a 100% success rate. In hardware, MIGHTY completes multiple high-speed flights up to 6.7 m/s in a cluttered static environment and long-duration flights with dynamically added obstacles. Trajectory planning for autonomous navigation has been extensively studied, with a wide variety of parameterizations and formulations [3], [6], [7], [9], [12], [14]-[17], [19]-[23].