We consider the problem of steering an initial probability density for the state vector of a linear system to a final one, in finite time, using minimum energy control. In the case where the dynamics correspond to an integrator ($\dot x(t) = u(t)$) this amounts to a Monge-Kantorovich Optimal Mass Transport (OMT) problem. In general, we show that the problem can again be reduced to solving an OMT problem and that it has a unique solution. In parallel, we study the optimal steering of the state-density of a linear stochastic system with white noise disturbance; this is known to correspond to a Schrödinger bridge. As the white noise intensity tends to zero, the flow of densities converges to that of the deterministic dynamics and can serve as a way to compute the solution of its deterministic counterpart. The solution can be expressed in closed-form for Gaussian initial and final state densities in both cases.
We consider the optimal control problem of steering an agent population to a desired distribution over an infinite horizon. This is an optimal transport problem over a dynamical system, which is challenging due to its high computational cost. In this paper, we propose Sinkhorn MPC, which is a dynamical transport algorithm combining model predictive control and the so-called Sinkhorn algorithm. The notable feature of the proposed method is that it achieves cost-effective transport in real time by performing control and transport planning simultaneously. In particular, for linear systems with an…
We consider the optimal control problem of steering an agent population to a desired distribution over an infinite horizon. This is an optimal transport problem over dynamical systems, which is challenging due to its high computational cost. In this paper, by using entropy regularization, we propose Sinkhorn MPC, which is a dynamical transport algorithm integrating model predictive control (MPC) and the so-called Sinkhorn algorithm. The notable feature of the proposed method is that it achieves cost-effective transport in real time by performing control and transport planning simultaneously, w…
This paper presents a variational representation of the Bayes' law using optimal transportation theory. The variational representation is in terms of the optimal transportation between the joint distribution of the (state, observation) and their independent coupling. By imposing certain structure on the transport map, the solution to the variational problem is used to construct a Brenier-type map that transports the prior distribution to the posterior distribution for any value of the observation signal. The new formulation is used to derive the optimal transport form of the Ensemble Kalman fi…
We propose dynamical optimal transport (OT) problems constrained in a parameterized probability subset. In application problems such as deep learning, the probability distribution is often generated by a parameterized mapping function. In this case, we derive a simple formulation for the constrained dynamical OT.
This work studies how the introduction of the entropic regularization term in unbalanced Optimal Transport (OT) models may alter their homogeneity with respect to the input measures. We observe that in common settings (including balanced OT and unbalanced OT with Kullback-Leibler divergence to the marginals), although the optimal transport cost itself is not homogeneous, optimal transport plans and the so-called Sinkhorn divergences are indeed homogeneous. However, homogeneity does not hold in more general Unbalanced Regularized Optimal Transport (UROT) models, for instance those using the Tot…
Entropy regularized optimal transport and its multi-marginal generalization have attracted increasing attention in various applications, in particular due to efficient Sinkhorn-like algorithms for computing optimal transport plans. However, it is often desirable that the marginals of the optimal transport plan do not match the given measures exactly, which led to the introduction of the so-called unbalanced optimal transport. Since unbalanced methods were not examined for the multi-marginal setting so far, we address this topic in the present paper. More precisely, we introduce the unbalanced …
Optimal Transport, a theory for optimal allocation of resources, is widely used in various fields such as astrophysics, machine learning, and imaging science. However, many applications impose elementwise constraints on the transport plan which traditional optimal transport cannot enforce. Here we introduce Supervised Optimal Transport (sOT) that formulates a constrained optimal transport problem where couplings between certain elements are prohibited according to specific applications. sOT is proved to be equivalent to an $l^1$ penalized optimization problem, from which efficient algorithms a…
An optimal transport problem on finite spaces is a linear program. Recently, a relaxation of the optimal transport problem via strictly convex functions, especially via the Kullback--Leibler divergence, sheds new light on data sciences. This paper provides the mathematical foundations and an iterative process based on a gradient descent for the relaxed optimal transport problem via Bregman divergences.
In this work we propose a framework to address the issue of state dependent nonlinear equality-constrained state estimation using Bayesian filtering. This framework is constructed specifically for a linear approximation of Bayesian filtering that uses the theory of Optimal Transport. As a part of this framework, we present three traditionally-used nonlinear equality constraint-preserving algorithms coupled with the Optimal Transport based filter: the equality-constrained Optimal Transport filter, the projected Optimal Transport filter, and the measurement-augmented Optimal Transport filter. In…
In this paper, we study the optimal transport problem induced by separable cost functions. In this framework, transportation can be expressed as the composition of two lower-dimensional movements. Through this reformulation, we prove that the random variable inducing the optimal transportation plan enjoys a conditional independence property. We conclude the paper by focusing on some significant settings. In particular, we study the problem in the Euclidean space endowed with the squared Euclidean distance. In this instance, we retrieve an explicit formula for the optimal transportation plan be…
We study an optimal control problem for a simple transportation model on a path graph. We give a closed form solution for the optimal controller, which can also account for planned disturbances using feed-forward. The optimal controller is highly structured, which allows the controller to be implemented using only local communication, conducted through two sweeps through the graph.
Optimal transportation theory is an area of mathematics with real-world applications in fields ranging from economics to optimal control to machine learning. We propose a new algorithm for solving discrete transport (network flow) problems, based on classical auction methods. Auction methods were originally developed as an alternative to the Hungarian method for the assignment problem, so the classic auction-based algorithms solve integer-valued optimal transport by converting such problems into assignment problems. The general transport auction method we propose works directly on real-valued …
We study the consequences of the equivalence between the least gradient problem and a boundary-to-boundary optimal transport problem in two dimensions. We extend the relationship between the two problems to their respective dual problems, as well as prove several regularity and stability results for the least gradient problem using optimal transport techniques.
Optimal transport (OT) provides powerful tools for comparing probability measures in various types. The Wasserstein distance which arises naturally from the idea of OT is widely used in many machine learning applications. Unfortunately, computing the Wasserstein distance between two continuous probability measures always suffers from heavy computational intractability. In this paper, we propose an innovative algorithm that iteratively evolves a particle system to match the optimal transport plan for two given continuous probability measures. The derivation of the algorithm is based on the cons…
The article deals with the problem of optimal location of production and distribution points in the vertices of the transportation network considered as an investment project. On the network set production of raw materials points and demand points.
We consider the model of a transportation problem with the objective of finding a minimum-cost transportation plan for shipping a given commodity from a set of supply centers to the customers. Since the exact values of supply and demand and the exact transportation costs are not always available for real-world problems, we adopt the approach of interval programming to represent such uncertainty, resulting in the model of an interval transportation problem. The interval model assumes that lower and upper bounds on the data are given and the values can be independently perturbed within these bou…
The optimal transport problem has recently developed into a powerful framework for various applications in estimation and control. Many of the recent advances in the theory and application of optimal transport are based on regularizing the problem with an entropy term, which connects it to the Schrödinger bridge problem and thus to stochastic optimal control. Moreover, the entropy regularization makes the otherwise computationally demanding optimal transport problem feasible even for large scale settings. This has lead to an accelerated development of optimal transport based methods in a broad…
This note is devoted to study a class of games with a continuum of players for which Cournot-Nash equilibria can be obtained by minimisation of some cost related to Optimal Transport. In particular we focus on the case of an Optimal Transport term between unequal dimension. We also present several numerical simulations.
This paper presents a widely applicable approach to solving (multi-marginal, martingale) optimal transport and related problems via neural networks. The core idea is to penalize the optimization problem in its dual formulation and reduce it to a finite dimensional one which corresponds to optimizing a neural network with smooth objective function. We present numerical examples from optimal transport, martingale optimal transport, portfolio optimization under uncertainty and generative adversarial networks that showcase the generality and effectiveness of the approach.
We present a theoretical framework for a stereo vision method via optimal transport tools. We consider two aligned optical systems and we develop the matching between the two pictures line by line. By considering a regularized version of the optimal transport, we can speed up the computation and obtain a very accurate disparity function evaluation. Moreover, via this same method we can approach successfully the case of images with occluded regions.
We propose an entropic approximation approach for optimal transportation problems with a supremal cost. We establish $Γ$-convergence for suitably chosen parameters for the entropic penalization and that this procedure selects $\infty$-cyclically monotone plans at the limit. We also present some numerical illustrations performed with Sinkhorn's algorithm.
We study the convergence of entropically regularized optimal transport to optimal transport. The main result is concerned with the convergence of the associated optimizers and takes the form of a large deviations principle quantifying the local exponential convergence rate as the regularization parameter vanishes. The exact rate function is determined in a general setting and linked to the Kantorovich potential of optimal transport. Our arguments are based on the geometry of the optimizers and inspired by the use of $c$-cyclical monotonicity in classical transport theory. The results can also …
We establish the stability of solutions to the entropically regularized optimal transport problem with respect to the marginals and the cost function. The result is based on the geometric notion of cyclical invariance and inspired by the use of $c$-cyclical monotonicity in classical optimal transport. As a consequence of stability, we obtain the wellposedness of the solution in this geometric sense, even when all transports have infinite cost. More generally, our results apply to a class of static Schrödinger bridge problems including entropic optimal transport.
We consider the problem of dynamic optimal transport with a density constraint. We derive variational limits in terms of $Γ$-convergence for two singular phenomena. First, for densities constrained near a hyperplane we recover the optimal flow through an infinitesimal permeable membrane. Second, for rapidly oscillating periodic constraints we obtain the optimal flow through a homogenized porous medium.
The stability of solutions to optimal transport problems under variation of the measures is fundamental from a mathematical viewpoint: it is closely related to the convergence of numerical approaches to solve optimal transport problems and justifies many of the applications of optimal transport. In this article, we introduce the notion of strong c-concavity, and we show that it plays an important role for proving stability results in optimal transport for general cost functions c. We then introduce a differential criterion for proving that a function is strongly c-concave, under an hypothesis …
We consider the multi-marginal optimal transport of aligning several compactly supported marginals on the Heisenberg group to minimize the total cost, which we take to be the sum of the squared Carnot-Carathéodory distances from the marginal points to their barycenter. Under certain technical hypotheses, we prove existence and uniqueness of optimal maps. We also point out several related open questions.
In this paper, we introduce a primal-dual algorithm for solving (martingale) optimal transportation problems, with cost functions satisfying the twist condition, close to the one that has been used recently for training generative adversarial networks. As some additional applications, we consider anomaly detection and automatic generation of financial data.
We study the Lagrangian formulation of a class of the Monge-Kantorovich optimal transportation problem. It can be considered a stochastic optimal transportation problem for absolutely continuous stochastic processes. A cost function and stochastic processes under consideration is not convex and have essentially bounded time derivatives almost surely, respectively. This paper is a continuation of the second author's master thesis.
