5,766 research outputs found
Manifold interpolation and model reduction
One approach to parametric and adaptive model reduction is via the
interpolation of orthogonal bases, subspaces or positive definite system
matrices. In all these cases, the sampled inputs stem from matrix sets that
feature a geometric structure and thus form so-called matrix manifolds. This
work will be featured as a chapter in the upcoming Handbook on Model Order
Reduction (P. Benner, S. Grivet-Talocia, A. Quarteroni, G. Rozza, W.H.A.
Schilders, L.M. Silveira, eds, to appear on DE GRUYTER) and reviews the
numerical treatment of the most important matrix manifolds that arise in the
context of model reduction. Moreover, the principal approaches to data
interpolation and Taylor-like extrapolation on matrix manifolds are outlined
and complemented by algorithms in pseudo-code.Comment: 37 pages, 4 figures, featured chapter of upcoming "Handbook on Model
Order Reduction
Geometry-aware Manipulability Learning, Tracking and Transfer
Body posture influences human and robots performance in manipulation tasks,
as appropriate poses facilitate motion or force exertion along different axes.
In robotics, manipulability ellipsoids arise as a powerful descriptor to
analyze, control and design the robot dexterity as a function of the
articulatory joint configuration. This descriptor can be designed according to
different task requirements, such as tracking a desired position or apply a
specific force. In this context, this paper presents a novel
\emph{manipulability transfer} framework, a method that allows robots to learn
and reproduce manipulability ellipsoids from expert demonstrations. The
proposed learning scheme is built on a tensor-based formulation of a Gaussian
mixture model that takes into account that manipulability ellipsoids lie on the
manifold of symmetric positive definite matrices. Learning is coupled with a
geometry-aware tracking controller allowing robots to follow a desired profile
of manipulability ellipsoids. Extensive evaluations in simulation with
redundant manipulators, a robotic hand and humanoids agents, as well as an
experiment with two real dual-arm systems validate the feasibility of the
approach.Comment: Accepted for publication in the Intl. Journal of Robotics Research
(IJRR). Website: https://sites.google.com/view/manipulability. Code:
https://github.com/NoemieJaquier/Manipulability. 24 pages, 20 figures, 3
tables, 4 appendice
Steklov Spectral Geometry for Extrinsic Shape Analysis
We propose using the Dirichlet-to-Neumann operator as an extrinsic
alternative to the Laplacian for spectral geometry processing and shape
analysis. Intrinsic approaches, usually based on the Laplace-Beltrami operator,
cannot capture the spatial embedding of a shape up to rigid motion, and many
previous extrinsic methods lack theoretical justification. Instead, we consider
the Steklov eigenvalue problem, computing the spectrum of the
Dirichlet-to-Neumann operator of a surface bounding a volume. A remarkable
property of this operator is that it completely encodes volumetric geometry. We
use the boundary element method (BEM) to discretize the operator, accelerated
by hierarchical numerical schemes and preconditioning; this pipeline allows us
to solve eigenvalue and linear problems on large-scale meshes despite the
density of the Dirichlet-to-Neumann discretization. We further demonstrate that
our operators naturally fit into existing frameworks for geometry processing,
making a shift from intrinsic to extrinsic geometry as simple as substituting
the Laplace-Beltrami operator with the Dirichlet-to-Neumann operator.Comment: Additional experiments adde
Diagonality Measures of Hermitian Positive-Definite Matrices with Application to the Approximate Joint Diagonalization Problem
In this paper, we introduce properly-invariant diagonality measures of
Hermitian positive-definite matrices. These diagonality measures are defined as
distances or divergences between a given positive-definite matrix and its
diagonal part. We then give closed-form expressions of these diagonality
measures and discuss their invariance properties. The diagonality measure based
on the log-determinant -divergence is general enough as it includes a
diagonality criterion used by the signal processing community as a special
case. These diagonality measures are then used to formulate minimization
problems for finding the approximate joint diagonalizer of a given set of
Hermitian positive-definite matrices. Numerical computations based on a
modified Newton method are presented and commented
Uncertainty-Aware Principal Component Analysis
We present a technique to perform dimensionality reduction on data that is
subject to uncertainty. Our method is a generalization of traditional principal
component analysis (PCA) to multivariate probability distributions. In
comparison to non-linear methods, linear dimensionality reduction techniques
have the advantage that the characteristics of such probability distributions
remain intact after projection. We derive a representation of the PCA sample
covariance matrix that respects potential uncertainty in each of the inputs,
building the mathematical foundation of our new method: uncertainty-aware PCA.
In addition to the accuracy and performance gained by our approach over
sampling-based strategies, our formulation allows us to perform sensitivity
analysis with regard to the uncertainty in the data. For this, we propose
factor traces as a novel visualization that enables to better understand the
influence of uncertainty on the chosen principal components. We provide
multiple examples of our technique using real-world datasets. As a special
case, we show how to propagate multivariate normal distributions through PCA in
closed form. Furthermore, we discuss extensions and limitations of our
approach
Hypothesis Testing For Network Data in Functional Neuroimaging
In recent years, it has become common practice in neuroscience to use
networks to summarize relational information in a set of measurements,
typically assumed to be reflective of either functional or structural
relationships between regions of interest in the brain. One of the most basic
tasks of interest in the analysis of such data is the testing of hypotheses, in
answer to questions such as "Is there a difference between the networks of
these two groups of subjects?" In the classical setting, where the unit of
interest is a scalar or a vector, such questions are answered through the use
of familiar two-sample testing strategies. Networks, however, are not Euclidean
objects, and hence classical methods do not directly apply. We address this
challenge by drawing on concepts and techniques from geometry, and
high-dimensional statistical inference. Our work is based on a precise
geometric characterization of the space of graph Laplacian matrices and a
nonparametric notion of averaging due to Fr\'echet. We motivate and illustrate
our resulting methodologies for testing in the context of networks derived from
functional neuroimaging data on human subjects from the 1000 Functional
Connectomes Project. In particular, we show that this global test is more
statistical powerful, than a mass-univariate approach. In addition, we have
also provided a method for visualizing the individual contribution of each edge
to the overall test statistic.Comment: 34 pages. 5 figure
Integrators on homogeneous spaces: Isotropy choice and connections
We consider numerical integrators of ODEs on homogeneous spaces (spheres,
affine spaces, hyperbolic spaces). Homogeneous spaces are equipped with a
built-in symmetry. A numerical integrator respects this symmetry if it is
equivariant. One obtains homogeneous space integrators by combining a Lie group
integrator with an isotropy choice. We show that equivariant isotropy choices
combined with equivariant Lie group integrators produce equivariant homogeneous
space integrators. Moreover, we show that the RKMK, Crouch--Grossman or
commutator-free methods are equivariant. To show this, we give a novel
description of Lie group integrators in terms of stage trees and motion maps,
which unifies the known Lie group integrators. We then proceed to study the
equivariant isotropy maps of order zero, which we call connections, and show
that they can be identified with reductive structures and invariant principal
connections. We give concrete formulas for connections in standard homogeneous
spaces of interest, such as Stiefel, Grassmannian, isospectral, and polar
decomposition manifolds. Finally, we show that the space of matrices of fixed
rank possesses no connection
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