Robotics paper index

Voronoi Histograms for Adaptive Vectorization of Expected Persistence Diagrams

2026-07-29 · arXiv: 2607.27126

One-line summary

A robotics research paper on Voronoi Histograms for Adaptive Vectorization of Expected Persistence Diagrams.

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 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

Persistence Diagram (PD) is known to capture point cloud topology effectively, but its computation has high time complexity. Expected Persistence Diagram (EPD) has been developed to reduce the time cost by studying the topology of multiple subsets of a point cloud and it serves as a distribution of topological features. Existing EPD vectorizations often rely on predefined point transformations, such as Gaussian or landscape functions. We study an alternative discretization based on Voronoi histograms, which trades smooth functional approximation for adaptive partition-based counting. We propose to use Voronoi Diagram-based histogram as the vectorization of EPD, without imposing an explicit smooth point transformation model. Under stated separation and normalization conditions, we establish stability bounds and characterize when the histogram representation preserves Wasserstein-scale variation. We demonstrate the effectiveness of our proposed representation on real-world datasets which have significant topological features for classification and dimensionality reduction tasks.

5.0Engineering value
7.0Research novelty
4.0Business relevance

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