Jianyu Wang

Yinong Cao, Chenyang Zhang, Xin He et al.

Wide field-of-view (FoV) LiDAR sensors provide dense geometry across large environments, but existing LiDAR-inertial-visual odometry (LIVO) systems generally rely on a single camera, limiting their ability to fully exploit LiDAR-derived depth for photometric alignment and scene colorization. We present Omni-LIVO, a tightly coupled multi-camera LIVO system that leverages multi-view observations to comprehensively utilize LiDAR geometric information across extended spatial regions. Omni-LIVO introduces a Cross-View direct alignment strategy that maintains photometric consistency across non-overlapping views, and extends the Error-State Iterated Kalman Filter (ESIKF) with multi-view updates and adaptive covariance. The system is evaluated on public benchmarks and our custom dataset, showing improved accuracy and robustness over state-of-the-art LIVO, LIO, and visual-inertial SLAM baselines. Code and dataset will be released upon publication.

Jianyu Wang, Linruize Tang

Nonnegative tensor factorization (NTF) has become an important tool for feature extraction and part-based representation with preserved intrinsic structure information from nonnegative high-order data. However, the original NTF methods utilize Euclidean or Kullback-Leibler divergence as the loss function which treats each feature equally leading to the neglect of the side-information of features. To utilize correlation information of features and manifold information of samples, we introduce Wasserstein manifold nonnegative tensor factorization (WMNTF), which minimizes the Wasserstein distance between the distribution of input tensorial data and the distribution of reconstruction. Although some researches about Wasserstein distance have been proposed in nonnegative matrix factorization (NMF), they ignore the spatial structure information of higher-order data. We use Wasserstein distance (a.k.a Earth Mover's distance or Optimal Transport distance) as a metric and add a graph regularizer to a latent factor. Experimental results demonstrate the effectiveness of the proposed method compared with other NMF and NTF methods.

Jianyu Wang, Zachary Charles, Zheng Xu et al.

Federated learning and analytics are a distributed approach for collaboratively learning models (or statistics) from decentralized data, motivated by and designed for privacy protection. The distributed learning process can be formulated as solving federated optimization problems, which emphasize communication efficiency, data heterogeneity, compatibility with privacy and system requirements, and other constraints that are not primary considerations in other problem settings. This paper provides recommendations and guidelines on formulating, designing, evaluating and analyzing federated optimization algorithms through concrete examples and practical implementation, with a focus on conducting effective simulations to infer real-world performance. The goal of this work is not to survey the current literature, but to inspire researchers and practitioners to design federated learning algorithms that can be used in various practical applications.

Jianyu Wang, Hao Liang, Gauri Joshi

Distributed stochastic gradient descent (SGD) is essential for scaling the machine learning algorithms to a large number of computing nodes. However, the infrastructures variability such as high communication delay or random node slowdown greatly impedes the performance of distributed SGD algorithm, especially in a wireless system or sensor networks. In this paper, we propose an algorithmic approach named Overlap-Local-SGD (and its momentum variant) to overlap the communication and computation so as to speedup the distributed training procedure. The approach can help to mitigate the straggler effects as well. We achieve this by adding an anchor model on each node. After multiple local updates, locally trained models will be pulled back towards the synchronized anchor model rather than communicating with others. Experimental results of training a deep neural network on CIFAR-10 dataset demonstrate the effectiveness of Overlap-Local-SGD. We also provide a convergence guarantee for the proposed algorithm under non-convex objective functions.