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Iterative Cauchy Thresholding: Regularisation with a heavy-tailed prior

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abstract

In the machine learning era, sparsity continues to attract significant interest due to the benefits it provides to learning models. Algorithms aiming to optimise the \(\ell_0\)- and \(\ell_1\)-norm are the common choices to achieve sparsity. In this work, an alternative algorithm is proposed, which is derived based on the assumption of a Cauchy distribution characterising the coefficients in sparse domains. The Cauchy distribution is known to be able to capture heavy-tails in the data, which are linked to sparse processes. We begin by deriving the Cauchy proximal operator and subsequently propose an algorithm for optimising a cost function which includes a Cauchy penalty term. We have coined our contribution as Iterative Cauchy Thresholding (ICT). Results indicate that sparser solutions can be achieved using ICT in conjunction with a fixed over-complete discrete cosine transform dictionary under a sparse coding methodology.

fields

cs.RO 1

years

2025 1

verdicts

CONDITIONAL 1

representative citing papers

Design and Control of a Bipedal Robotic Character

cs.RO · 2025-01-09 · conditional · novelty 6.0

A bipedal entertainment robot with backward-bending knees and antennas is controlled by multiple reinforcement-learning policies, an animation blending engine, and a two-joystick puppeteering interface, demonstrated in public shows.

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  • Design and Control of a Bipedal Robotic Character cs.RO · 2025-01-09 · conditional · none · ref 6 · internal anchor

    A bipedal entertainment robot with backward-bending knees and antennas is controlled by multiple reinforcement-learning policies, an animation blending engine, and a two-joystick puppeteering interface, demonstrated in public shows.