Robotics paper index
Sierpiński--Knopp Wasserstein Distance for Persistence Diagrams and Applications to 2-Wasserstein Approximation
One-line summary
A robotics research paper on Sierpiński--Knopp Wasserstein Distance for Persistence Diagrams and Applications to 2-Wasserstein Approximation.
Engineering notes
Engineering notes will be added by the Robot Papers editorial team.
Chinese explanation / 中文解读
中文解读待补充:本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。
Original abstract
This paper introduces the Sierpiński-Knopp (SK) Wasserstein distance, a fast metric between persistence diagrams. The SK-Wasserstein distance, denoted $d_{\mathrm{SK}}$, maps diagram points and their diagonal projections to the unit interval via the Sierpiński-Knopp space-filling curve on the upper diagonal triangle. The encoded point sets are then efficiently matched via one-dimensional optimal assignment, in \(O(N\log N)\) steps, yielding an explicit diagonal-aware point assignment between the two input persistence diagrams. We show that the SK-Wasserstein distance controls the classical \(2\)-Wasserstein distance between diagrams, admits an explicit isometric embedding into a Hilbert space, and induces a positive-definite Gaussian kernel, making the resulting geometry directly compatible with Euclidean and kernel-based learning methods. A tighter surrogate dissimilarity, noted \(W_Γ\), is also introduced based on the point assignments along the curve. Experiments on 12 scientific collections comprising 227 diagrams show median per-collection speedup of \(d_{\mathrm{SK}}\) over state-of-the-art approximations of \(W_2\) is \(626\times\), while the aggregate speedup over the full benchmark is \(2100\times\). Average-linkage partitions obtained from \(d_{\mathrm{SK}}\) and \(W_Γ\) each exactly match the corresponding \(W_2\) partition on 8 of the 12 collections. Hilbert \(k\)-means and Gaussian spectral clustering, both based on \(d_{\mathrm{SK}}\), achieve mean adjusted Rand indices (ARI) of \(0.756\) and \(0.800\), respectively, with respect to the benchmark reference partitions, compared to \(0.750\) obtained by average linkage on \(W_2\). The Gaussian \(d_{\mathrm{SK}}\) kernel supports other kernel-based analysis tasks, as illustrated by its use for contiguous segmentation of ordered diagram collections in our experiments.
Links and sources
Need this topic turned into a technical roadmap?
Robot Papers can prepare a custom robotics literature review, code map, dataset map, and B2B technology assessment.
Request B2B research
Comments