1,744 research outputs found
Optimization viewpoint on Kalman smoothing, with applications to robust and sparse estimation
In this paper, we present the optimization formulation of the Kalman
filtering and smoothing problems, and use this perspective to develop a variety
of extensions and applications. We first formulate classic Kalman smoothing as
a least squares problem, highlight special structure, and show that the classic
filtering and smoothing algorithms are equivalent to a particular algorithm for
solving this problem. Once this equivalence is established, we present
extensions of Kalman smoothing to systems with nonlinear process and
measurement models, systems with linear and nonlinear inequality constraints,
systems with outliers in the measurements or sudden changes in the state, and
systems where the sparsity of the state sequence must be accounted for. All
extensions preserve the computational efficiency of the classic algorithms, and
most of the extensions are illustrated with numerical examples, which are part
of an open source Kalman smoothing Matlab/Octave package.Comment: 46 pages, 11 figure
Projection methods in conic optimization
There exist efficient algorithms to project a point onto the intersection of
a convex cone and an affine subspace. Those conic projections are in turn the
work-horse of a range of algorithms in conic optimization, having a variety of
applications in science, finance and engineering. This chapter reviews some of
these algorithms, emphasizing the so-called regularization algorithms for
linear conic optimization, and applications in polynomial optimization. This is
a presentation of the material of several recent research articles; we aim here
at clarifying the ideas, presenting them in a general framework, and pointing
out important techniques
CoCoA: A General Framework for Communication-Efficient Distributed Optimization
The scale of modern datasets necessitates the development of efficient
distributed optimization methods for machine learning. We present a
general-purpose framework for distributed computing environments, CoCoA, that
has an efficient communication scheme and is applicable to a wide variety of
problems in machine learning and signal processing. We extend the framework to
cover general non-strongly-convex regularizers, including L1-regularized
problems like lasso, sparse logistic regression, and elastic net
regularization, and show how earlier work can be derived as a special case. We
provide convergence guarantees for the class of convex regularized loss
minimization objectives, leveraging a novel approach in handling
non-strongly-convex regularizers and non-smooth loss functions. The resulting
framework has markedly improved performance over state-of-the-art methods, as
we illustrate with an extensive set of experiments on real distributed
datasets
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