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An optimization problem is at the heart of many robotics estimating, planning, and optimum control problems. Several attempts have been made at model-based multi-robot localization, and few have formulated the multi-robot collaborative…
Object rearrangement is a fundamental sub-task in accomplishing a great many physical tasks. As such, effectively executing rearrangement is an important skill for intelligent robots to master. In this study, we conduct the first…
We develop a high order reconstructed discontinuous approximation (RDA) method for solving a mixed formulation of the quad-curl problem in two and three dimensions. This mixed formulation is established by adding an auxiliary variable to…
The orthogonality dimension of a graph $G$ over $\mathbb{R}$ is the smallest integer $k$ for which one can assign a nonzero $k$-dimensional real vector to each vertex of $G$, such that every two adjacent vertices receive orthogonal vectors.…
In this paper, we present a simple factor 6 algorithm for approximating the optimal multiplicative distortion of embedding a graph metric into a tree metric (thus improving and simplifying the factor 100 and 27 algorithms of B\v{a}doiu,…
In applications, a substantial number of problems can be formulated as non-linear least squares problems over smooth varieties. Unlike the usual least squares problem over a Euclidean space, the non-linear least squares problem over a…
Learning-to-rank techniques have proven to be extremely useful for prioritization problems, where we rank items in order of their estimated probabilities, and dedicate our limited resources to the top-ranked items. This work exposes a…
This work introduces a moving anchor acceleration technique to extragradient algorithms for smooth structured minimax problems. The moving anchor is introduced as a generalization of the original algorithmic anchoring framework, i.e. the…
We introduce and study the \emph{Lattice Distortion Problem} (LDP). LDP asks how "similar" two lattices are. I.e., what is the minimal distortion of a linear bijection between the two lattices? LDP generalizes the Lattice Isomorphism…
Low-rank modeling has many important applications in computer vision and machine learning. While the matrix rank is often approximated by the convex nuclear norm, the use of nonconvex low-rank regularizers has demonstrated better empirical…
In this paper, the problem of target localization in the presence of outlying sensors is tackled. This problem is important in practice because in many real-world applications the sensors might report irrelevant data unintentionally or…
Optimal recursive decomposition (or DR-planning) is crucial for analyzing, designing, solving or finding realizations of geometric constraint sytems. While the optimal DR-planning problem is NP-hard even for general 2D bar-joint constraint…
Building on the blueprint from Goemans and Williamson (1995) for the Max-Cut problem, we construct a polynomial-time approximation algorithm for orthogonally constrained quadratic optimization problems. First, we derive a semidefinite…
The problem of low-tubal-rank tensor estimation is a fundamental task with wide applications across high-dimensional signal processing, machine learning, and image science. Traditional approaches tackle such a problem by performing tensor…
The low displacement rank (LDR) framework for structured matrices represents a matrix through two displacement operators and a low-rank residual. Existing use of LDR matrices in deep learning has applied fixed displacement operators…
In this paper, we introduce a higher-order multiscale method for time-dependent problems with highly oscillatory coefficients. Building on the localized orthogonal decomposition (LOD) framework, we construct enriched correction operators to…
We consider the problem of sorting $n$ elements subject to persistent random comparison errors. In this problem, each comparison between two elements can be wrong with some fixed (small) probability $p$, and comparing the same pair of…
In a matroid secretary problem, one is presented with a sequence of objects of various weights in a random order, and must choose irrevocably to accept or reject each item. There is a further constraint that the set of items selected must…
We introduce and study the problem of consistent low-rank approximation, in which rows of an input matrix $\mathbf{A}\in\mathbb{R}^{n\times d}$ arrive sequentially and the goal is to provide a sequence of subspaces that well-approximate the…
The linear ordering problem (LOP), which consists in ordering M objects from their pairwise comparisons, is commonly applied in many areas of research. While efforts have been made to devise efficient LOP algorithms, verification of whether…