CUR Decompositions, Similarity Matrices, and Subspace Clustering

A general framework for solving the subspace clustering problem using the CUR decomposition is presented. The CUR decomposition provides a natural way to construct similarity matrices for data that come from a union of unknown subspaces $\mathscr{U}=\underset{i=1}{\overset{M}\bigcup}S_i$. The similarity matrices thus constructed give the exact clustering in the noise-free case. Additionally, this decomposition gives rise to many distinct similarity matrices from a given set of data, which allow enough flexibility to perform accurate clustering of noisy data. We also show that two known methods for subspace clustering can be derived from the CUR decomposition. An algorithm based on the theoretical construction of similarity matrices is presented, and experiments on synthetic and real data are presented to test the method. Additionally, an adaptation of our CUR based similarity matrices is utilized to provide a heuristic algorithm for subspace clustering; this algorithm yields the best overall performance to date for clustering the Hopkins155 motion segmentation dataset.Comment: Approximately 30 pages. Current version contains improved algorithm and numerical experiments from the previous versio

Efficient Algorithms for CUR and Interpolative Matrix Decompositions

The manuscript describes efficient algorithms for the computation of the CUR and ID decompositions. The methods used are based on simple modifications to the classical truncated pivoted QR decomposition, which means that highly optimized library codes can be utilized for implementation. For certain applications, further acceleration can be attained by incorporating techniques based on randomized projections. Numerical experiments demonstrate advantageous performance compared to existing techniques for computing CUR factorizations

Superfast Line Spectral Estimation

A number of recent works have proposed to solve the line spectral estimation problem by applying off-the-grid extensions of sparse estimation techniques. These methods are preferable over classical line spectral estimation algorithms because they inherently estimate the model order. However, they all have computation times which grow at least cubically in the problem size, thus limiting their practical applicability in cases with large dimensions. To alleviate this issue, we propose a low-complexity method for line spectral estimation, which also draws on ideas from sparse estimation. Our method is based on a Bayesian view of the problem. The signal covariance matrix is shown to have Toeplitz structure, allowing superfast Toeplitz inversion to be used. We demonstrate that our method achieves estimation accuracy at least as good as current methods and that it does so while being orders of magnitudes faster.Comment: 16 pages, 7 figures, accepted for IEEE Transactions on Signal Processin

Learning and Reasoning for Robot Sequential Decision Making under Uncertainty

Robots frequently face complex tasks that require more than one action, where sequential decision-making (SDM) capabilities become necessary. The key contribution of this work is a robot SDM framework, called LCORPP, that supports the simultaneous capabilities of supervised learning for passive state estimation, automated reasoning with declarative human knowledge, and planning under uncertainty toward achieving long-term goals. In particular, we use a hybrid reasoning paradigm to refine the state estimator, and provide informative priors for the probabilistic planner. In experiments, a mobile robot is tasked with estimating human intentions using their motion trajectories, declarative contextual knowledge, and human-robot interaction (dialog-based and motion-based). Results suggest that, in efficiency and accuracy, our framework performs better than its no-learning and no-reasoning counterparts in office environment.Comment: In proceedings of 34th AAAI conference on Artificial Intelligence, 202