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We describe a randomized algorithm for producing a near-optimal hierarchical off-diagonal low-rank (HODLR) approximation to an n × n matrix A, accessible only though matrix-vector products with A and AT. We prove that, for the rank-k HODLR approximation problem, our method achieves a (1 + β )log(n )-optimal approximation in expected Frobenius norm using O (k log(n )/β3) matrix-vector products. In particular, the algorithm obtains a (1 + ∈ )-optimal approximation with O (k log4(n )/∈3) matrix-vector products, and for any constant c, an nc-optimal approximation with O (k log(n )) matrix-vector products. Apart from matrix-vector products, the additional computational cost of our method is just O (n poly(log(n ), k, β )). We complement the upper bound with a lower bound, which shows that any matrix-vector query algorithm requires at least Ω(k log(n ) + k/ε ) queries to obtain a (1 + ε )-optimal approximation. Our algorithm can be viewed as a robust version of widely used “peeling” methods for recovering HODLR matrices and is, to the best of our knowledge, the first matrix-vector query algorithm to enjoy theoretical worst- case guarantees for approximation by any hierarchical matrix class. To control the propagation of error between levels of hierarchical approximation, we introduce a new perturbation bound for low-rank approximation, which shows that the widely used Generalized Nyström method enjoys inherent stability when implemented with noisy matrix-vector products. We also introduce a novel randomly perforated matrix sketching method to further control the error in the peeling algorithm.
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Memory-Efficient Learning of Stable Linear Dynamical Systems for Prediction and Control
Learning a stable Linear Dynamical System (LDS) from data involves creating models that both minimize reconstruction error and enforce stability of the learned representation. We propose a novel algorithm for learning stable LDSs. Using a recent characterization of stable matrices, we present an optimization method that ensures stability at every step and iteratively improves the reconstruction error using gradient directions derived in this paper. When applied to LDSs with inputs, our approach—in contrast to current methods for learning stable LDSs—updates both the state and control matrices, expanding the solution space and allowing for models with lower reconstruction error. We apply our algorithm in simulations and experiments to a variety of problems, including learning dynamic textures from image sequences and controlling a robotic manipulator. Compared to existing approaches, our proposed method achieves an orders-of-magnitude improvement in reconstruction error and superior results in terms of control performance. In addition, it is provably more memory efficient, with an O(n2) space complexity compared to O(n4) of competing alternatives, thus scaling to higher-dimensional systems when the other methods fail. The code of the proposed algorithm and animations of the results can be found at https: //github.com/giorgosmamakoukas/MemoryEfficientStableLDS.
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- Award ID(s):
- 1717951
- PAR ID:
- 10302017
- Date Published:
- Journal Name:
- Advances in neural information processing systems
- ISSN:
- 1049-5258
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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Accepted Manuscript1.0
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- The DOI is not currently available.
