In this work, we propose a novel methodology for robustly estimating particle size distributions from optical scattering measurements using constrained Gaussian process regression. The estimation of particle size distributions is commonly formulated as a Fredholm integral equation of the first kind, an ill-posed inverse problem characterized by instability due to measurement noise and limited data. To address this, we use a Gaussian process prior to regularize the solution and integrate a normalization constraint into the Gaussian process via two approaches: by constraining the Gaussian process using a pseudo-measurement and by using Lagrange multipliers in the equivalent optimization problem. To improve computational efficiency, we employ a spectral expansion of the covariance kernel using eigenfunctions of the Laplace operator, resulting in a computationally tractable low-rank representation without sacrificing accuracy. Additionally, we investigate two complementary strategies for hyperparameter estimation: a data-driven approach based on maximizing the unconstrained log marginal likelihood, and an alternative approach where the physical constraints are taken into account. Numerical experiments demonstrate that the proposed constrained Gaussian process regression framework accurately reconstructs particle size distributions, producing numerically stable, smooth, and physically interpretable results. This methodology provides a principled and efficient solution for addressing inverse scattering problems and related ill-posed integral equations.

Dynamic maneuvers for legged robots present a difficult challenge due to the complex dynamics and contact constraints. This paper introduces a versatile trajectory optimization framework for continuous-time multi-phase problems. We introduce a new transcription scheme that enables pseudospectral collocation to optimize directly on Lie Groups, such as SE(3) and quaternions without special normalization constraints. The key insight is the change of variables - we choose to optimize over the history of the tangent vectors rather than the states themselves. Our approach uses a modified Legendre-Gauss-Radau (LGR) method to produce dynamic motions for various legged robots. We implement our approach as a Model Predictive Controller (MPC) and track the MPC output using a Quadratic Program (QP) based whole-body controller. Results on the Go1 Unitree and WPI HURON humanoid confirm the feasibility of the planned trajectories.

Non-negative matrix factorization with the generalized Kullback-Leibler divergence (NMF) and latent Dirichlet allocation (LDA) are two popular approaches for dimensionality reduction of non-negative data. Here, we show that NMF with $\ell_1$ normalization constraints on the columns of both matrices of the decomposition and a Dirichlet prior on the columns of one matrix is equivalent to LDA. To show this, we demonstrate that explicitly accounting for the scaling ambiguity of NMF by adding $\ell_1$ normalization constraints to the optimization problem allows a joint update of both matrices in the widely used multiplicative updates (MU) algorithm. When both of the matrices are normalized, the joint MU algorithm leads to probabilistic latent semantic analysis (PLSA), which is LDA without a Dirichlet prior. Our approach of deriving joint updates for NMF also reveals that a Lasso penalty on one matrix together with an $\ell_1$ normalization constraint on the other matrix is insufficient to induce any sparsity.

In this Book we argue that the fruitful interaction of computer vision and belief calculus is capable of stimulating significant advances in both fields. From a methodological point of view, novel theoretical results concerning the geometric and algebraic properties of belief functions as mathematical objects are illustrated and discussed in Part II, with a focus on both a perspective 'geometric approach' to uncertainty and an algebraic solution to the issue of conflicting evidence. In Part III we show how these theoretical developments arise from important computer vision problems (such as articulated object tracking, data association and object pose estimation) to which, in turn, the evidential formalism is able to provide interesting new solutions. Finally, some initial steps towards a generalization of the notion of total probability to belief functions are taken, in the perspective of endowing the theory of evidence with a complete battery of estimation and inference tools to the benefit of all scientists and practitioners.

Probability estimates are desirable in statistical classification both for gauging the accuracy of a classification result and for calibration. Here we describe a method of solving for the conditional probabilities in multi-class classification using orthogonal error correcting codes. The method is tested on six different datasets using support vector machines and compares favorably with an existing technique based on the one-versus-one multi-class method. Probabilities are validated based on the cumulative sum of a boolean evaluation of the correctness of the class label divided by the estimated probability. Probability estimation using orthogonal coding is simple and efficient and has the potential for faster classification results than the one-versus-one method.

We consider the problem of learning Bayesian network classifiers that maximize the margin over a set of classification variables. We find that this problem is harder for Bayesian networks than for undirected graphical models like maximum margin Markov networks. The main difficulty is that the parameters in a Bayesian network must satisfy additional normalization constraints that an undirected graphical model need not respect. These additional constraints complicate the optimization task. Nevertheless, we derive an effective training algorithm that solves the maximum margin training problem for a range of Bayesian network topologies, and converges to an approximate solution for arbitrary network topologies. Experimental results show that the method can demonstrate improved generalization performance over Markov networks when the directed graphical structure encodes relevant knowledge. In practice, the training technique allows one to combine prior knowledge expressed as a directed (causal) model with state of the art discriminative learning methods.

Computing maximum a posteriori (MAP) estimation in graphical models is an important inference problem with many applications. We present message-passing algorithms for quadratic programming (QP) formulations of MAP estimation for pairwise Markov random fields. In particular, we use the concave-convex procedure (CCCP) to obtain a locally optimal algorithm for the non-convex QP formulation. A similar technique is used to derive a globally convergent algorithm for the convex QP relaxation of MAP. We also show that a recently developed expectation-maximization (EM) algorithm for the QP formulation of MAP can be derived from the CCCP perspective. Experiments on synthetic and real-world problems confirm that our new approach is competitive with max-product and its variations. Compared with CPLEX, we achieve more than an order-of-magnitude speedup in solving optimally the convex QP relaxation.

Peer reviewing is the key ingredient of evaluating the quality of scientific work. Based on the review scores assigned by the individual reviewers to the submissions, program committees of conferences and journal editors decide which papers to accept for publication and which to reject. However, some reviewers may be more rigorous than others, they may be biased one way or the other, and they often have highly subjective preferences over the papers they review. Moreover, each reviewer usually has only a very local view, as he or she evaluates only a small fraction of the submissions. Despite all these shortcomings, the review scores obtained need to be aggregrated in order to globally rank all submissions and to make the acceptance/rejection decision. A common method is to simply take the average of each submission's review scores, possibly weighted by the reviewers' confidence levels. Unfortunately, the global ranking thus produced often suffers a certain unfairness, as the reviewers' biases and limitations are not taken into account. We propose a method for calibrating the scores of reviewers that are potentially biased and blindfolded by having only partial information. Our method uses a maximum likelihood estimator, which estimates both the bias of each individual reviewer and the unknown "ideal" score of each submission. This yields a quadratic program whose solution transforms the individual review scores into calibrated, globally comparable scores. We argue why our method results in a fairer and more reasonable global ranking than simply taking the average of scores. To show its usefulness, we test our method empirically using real-world data.

We analyze the performance of a class of manifold-learning algorithms that find their output by minimizing a quadratic form under some normalization constraints. This class consists of Locally Linear Embedding (LLE), Laplacian Eigenmap, Local Tangent Space Alignment (LTSA), Hessian Eigenmaps (HLLE), and Diffusion maps. We present and prove conditions on the manifold that are necessary for the success of the algorithms. Both the finite sample case and the limit case are analyzed. We show that there are simple manifolds in which the necessary conditions are violated, and hence the algorithms cannot recover the underlying manifolds. Finally, we present numerical results that demonstrate our claims.