We study the problem of estimating a $p$-dimensional $s$-sparse vector in a linear model with Gaussian design. In the case where the labels are contaminated by at most $o$ adversarial outliers, we prove that the $\ell_1$-penalized Huber's $M$-estimator based on $n$ samples attains the optimal rate of convergence $(s/n)^{1/2} + (o/n)$, up to a logarithmic factor. For more general design matrices, our results highlight the importance of two properties: the transfer principle and the incoherence property. These properties with suitable constants are shown to yield the optimal rates of robust estimation with adversarial contamination.

We study the problem of learning Ising models in a setting where some of the samples from the underlying distribution can be arbitrarily corrupted. In such a setup, we aim to design statistically optimal estimators in a high-dimensional scaling in which the number of nodes p, the number of edges k and the maximal node degree d are allowed to increase to infinity as a function of the sample size n. Our analysis is based on exploiting moments of the underlying distribution, coupled with novel reductions to univariate estimation. Our proposed estimators achieve an optimal dimension independent dependence on the fraction of corrupted data in the contaminated setting, while also simultaneously achieving high-probability error guarantees with optimal sample-complexity. We corroborate our theoretical results by simulations.

We provide a theoretical framework for a wide class of generalized posteriors that can be viewed as the natural Bayesian posterior counterpart of the class of M-estimators in the frequentist world. We call the members of this class M-posteriors and show that they are asymptotically normally distributed under mild conditions on the M-estimation loss and the prior. In particular, an M-posterior contracts in probability around a normal distribution centered at an M-estimator, showing frequentist consistency and suggesting some degree of robustness depending on the reference M-estimator. We formalize the robustness properties of the M-posteriors by a new characterization of the posterior influence function and a novel definition of breakdown point adapted for posterior distributions. We illustrate the wide applicability of our theory in various popular models and illustrate their empirical relevance in some numerical examples.

We study the problem of learning Ising models in a setting where some of the samples from the underlying distribution can be arbitrarily corrupted. In such a setup, we aim to design statistically optimal estimators in a high-dimensional scaling in which the number of nodes p, the number of edges k and the maximal node degree d are allowed to increase to infinity as a function of the sample size n. Our analysis is based on exploiting moments of the underlying distribution, coupled with novel reductions to univariate estimation. Our proposed estimators achieve an optimal dimension independent dependence on the fraction of corrupted data in the contaminated setting, while also simultaneously achieving high-probability error guarantees with optimal sample-complexity. We corroborate our theoretical results by simulations.

This is a very good paper. I really enjoyed reading the paper. The result is very strong and the paper is very readable. I strongly recommend accepting the paper, if the proof is correct. This paper solves an important open problem in robust estimation.

The Gromov-Wasserstein (GW) distance is an effective measure of alignment between distributions supported on distinct ambient spaces. Calculating essentially the mutual departure from isometry, it has found vast usage in domain translation and network analysis. It has long been shown to be vulnerable to contamination in the underlying measures. All efforts to introduce robustness in GW have been inspired by similar techniques in optimal transport (OT), which predominantly advocate partial mass transport or unbalancing. In contrast, the cross-domain alignment problem being fundamentally different from OT, demands specific solutions to tackle diverse applications and contamination regimes. Deriving from robust statistics, we discuss three contextually novel techniques to robustify GW and its variants. For each method, we explore metric properties and robustness guarantees along with their co-dependencies and individual relations with the GW distance.

We study the problem of learning Ising models in a setting where some of the samples from the underlying distribution can be arbitrarily corrupted. In such a setup, we aim to design statistically optimal estimators in a high-dimensional scaling in which the number of nodes p, the number of edges k and the maximal node degree d are allowed to increase to infinity as a function of the sample size n. Our analysis is based on exploiting moments of the underlying distribution, coupled with novel reductions to univariate estimation. Our proposed estimators achieve an optimal dimension independent dependence on the fraction of corrupted data in the contaminated setting, while also simultaneously achieving high-probability error guarantees with optimal sample-complexity. We corroborate our theoretical results by simulations.

We study the problem of estimating a p -dimensional s -sparse vector in a linear model with Gaussian design. In the case where the labels are contaminated by at most o adversarial outliers, we prove that the \ell_1 -penalized Huber's M -estimator based on n samples attains the optimal rate of convergence (s/n) {1/2} (o/n), up to a logarithmic factor. For more general design matrices, our results highlight the importance of two properties: the transfer principle and the incoherence property. These properties with suitable constants are shown to yield the optimal rates of robust estimation with adversarial contamination.

Accurate state estimation is crucial for legged robot locomotion, as it provides the necessary information to allow control and navigation. However, it is also challenging, especially in scenarios with uneven and slippery terrain. This paper presents a new Invariant Extended Kalman filter for legged robot state estimation using only proprioceptive sensors. We formulate the methodology by combining recent advances in state estimation theory with the use of robust cost functions in the measurement update. We tested our methodology on quadruped robots through experiments and public datasets, showing that we can obtain a pose drift up to 40% lower in trajectories covering a distance of over 450m, in comparison with a state-of-the-art Invariant Extended Kalman filter.