Autonomous driving paper index

Probabilistic Smoothing with Ratio-Monotone Transforms for Global Optimization

2026-05-26 · arXiv: 2605.27316

One-line summary

A robotics research paper on Probabilistic Smoothing with Ratio-Monotone Transforms for Global Optimization.

Engineering notes

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Chinese explanation / 中文解读

中文解读待补充:本站会优先为端到端自动驾驶、BEV感知、3D目标检测、轨迹预测、路径规划、LiDAR感知等高价值论文补充中文说明。

Original abstract

Probabilistic smoothing is a standard tool for global optimization, but existing methods rely on Gaussian kernels and specific transforms, often resulting in strong hyperparameter sensitivity and limited robustness. We propose a general smoothing framework that combines flexible symmetric unimodal kernels with monotonic ratio-based transformations. Under mild conditions, we show that the smoothed objective preserves the global maximizer and that all stationary points concentrate near the true optimum for sufficiently large amplification, without requiring a decreasing smoothing schedule. We further provide explicit complexity bounds for stochastic gradient ascent and show that a leave-one-out baseline provably reduces variance. Experiments on high-dimensional benchmarks and black-box adversarial attacks demonstrate improved robustness and competitive performance.

5.0Engineering value
7.0Research novelty
4.0Business relevance

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