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Geometry-aware Tracking of Manipulability Ellipsoids

Publications associées (32)

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Functional connectomes (FCs) containing pairwise estimations of functional couplings between pairs of brain regions are commonly represented by correlation matrices. As symmetric positive definite matrices, FCs can be transformed via tangent space projecti ...

CELL PRESS2023

Fast deterministic and randomized algorithms for low-rank approximation, matrix functions, and trace estimation

Alice Cortinovis

In this thesis we propose and analyze algorithms for some numerical linear algebra tasks: finding low-rank approximations of matrices, computing matrix functions, and estimating the trace of matrices.In the first part, we consider algorithms for building l ...

EPFL2022

IMPROVED VARIANTS OF THE HUTCH plus plus ALGORITHM FOR TRACE ESTIMATION

Daniel Kressner, Ulf David Persson, Alice Cortinovis

This paper is concerned with two improved variants of the Hutch++ algorithm for estimating the trace of a square matrix, implicitly given through matrix-vector products. Hutch++ combines randomized low-rank approximation in a first phase with stochastic tr ...

SIAM PUBLICATIONS2022

, , ,

In this manuscript we consider denoising of large rectangular matrices: given a noisy observation of a signal matrix, what is the best way of recovering the signal matrix itself? For Gaussian noise and rotationally-invariant signal priors, we completely ch ...

2022

On Randomized Trace Estimates for Indefinite Matrices with an Application to Determinants

Daniel Kressner, Alice Cortinovis

Randomized trace estimation is a popular and well-studied technique that approximates the trace of a large-scale matrix B by computing the average of x(T) Bx for many samples of a random vector X. Often, B is symmetric positive definite (SPD) but a number ...

2021

Robust Differentiable SVD

Pascal Fua, Mathieu Salzmann, Zheng Dang, Wei Wang, Yinlin Hu

Eigendecomposition of symmetric matrices is at the heart of many computer vision algorithms. However, the derivatives of the eigenvectors tend to be numerically unstable, whether using the SVD to compute them analytically or using the Power Iteration (PI) ...

2021

Geometry-aware Manipulability Learning, Tracking and Transfer

Sylvain Calinon, Noémie Laure Gwendoline Jaquier

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 ...

Sage2020

Certified And Fast Computations With Shallow Covariance Kernels

Daniel Kressner, Stefano Massei

Many techniques for data science and uncertainty quantification demand efficient tools to handle Gaussian random fields, which are defined in terms of their mean functions and covariance operators. Recently, parameterized Gaussian random fields have gained ...

AMER INST MATHEMATICAL SCIENCES-AIMS2020

On maximum volume submatrices and cross approximation for symmetric semidefinite and diagonally dominant matrices

Daniel Kressner, Stefano Massei, Alice Cortinovis

The problem of finding a k x k submatrix of maximum volume of a matrix A is of interest in a variety of applications. For example, it yields a quasi-best low-rank approximation constructed from the rows and columns of A. We show that such a submatrix can a ...

ELSEVIER SCIENCE INC2020

Nonlinear Finite Elements in Dynamics

This report focuses on the implementation of the finite element method for nonlinear dynamical problems arising in solid mechanics. The theory of continuum mechanics is extensively covered in the literature and it is assumed the reader is already familiar ...

2020