Related papers: Convex Optimisation for Inverse Kinematics
Vector optimization problems are a generalization of multiobjective optimization in which the preference order is related to an arbitrary closed and convex cone, rather than the nonnegative octant. Due to its real life applications, it is…
The optimization of parallel kinematic manipulators (PKM) involve several constraints that are difficult to formalize, thus making optimal synthesis problem highly challenging. The presence of passive joint limits as well as the…
We consider a special class of nonconvex semidefinite programming problems and show that every point satisfying the Karush--Kuhn--Tucker (KKT) conditions is globally optimal despite nonconvexity. This property is related to pseudoconvex…
We consider the semi-infinite system of polynomial inequalities of the form \[ \mathbf{K}:=\{x\in\mathbb{R}^m\mid p(x,y)\ge 0,\ \ \forall y\in S\subseteq\mathbb{R}^n\}, \] where $p(x,y)$ is a real polynomial in the variables $x$ and the…
This paper proposes novel algorithm for non-convex multimodal constrained optimisation problems. It is based on sequential solving restrictions of problem to sections of feasible set by random subspaces (in general, manifolds) of low…
Submodular function minimization is a fundamental optimization problem that arises in several applications in machine learning and computer vision. The problem is known to be solvable in polynomial time, but general purpose algorithms have…
Many problems of systems control theory boil down to solving polynomial equations, polynomial inequalities or polyomial differential equations. Recent advances in convex optimization and real algebraic geometry can be combined to generate…
We study a class of constrained nonconvex-nonconcave minimax optimization problems in which the inner maximization involves potentially complex constraints. Under the assumption that the inner problem of a novel lifted minimax reformulation…
The main challenge of nonconvex optimization is to find a global optimum, or at least to avoid ``bad'' local minima and meaningless stationary points. We study here the extent to which algorithms, as opposed to optimization models and…
Multidimensional imaging, capturing image data in more than two dimensions, has been an emerging field with diverse applications. Due to the limitation of two-dimensional detectors in obtaining the high-dimensional image data, computational…
Parallel and cyclic projection algorithms are proposed for minimizing the sum of a finite family of convex functions over the intersection of a finite family of closed convex subsets of a Hilbert space. These algorithms are of…
We consider the energy minimization problem for undirected graphical models, also known as MAP-inference problem for Markov random fields which is NP-hard in general. We propose a novel polynomial time algorithm to obtain a part of its…
Inverse optimization, determining parameters of an optimization problem that render a given solution optimal, has received increasing attention in recent years. While significant inverse optimization literature exists for convex…
The first part of this paper proposed a family of penalized convex relaxations for solving optimization problems with bilinear matrix inequality (BMI) constraints. In this part, we generalize our approach to a sequential scheme which starts…
The vast majority of mesh-based modelling applications iteratively transform the mesh vertices under prescribed geometric conditions. This occurs in particular in methods cycling through the constraint set such as Position-Based Dynamics…
2D keypoints are commonly used as an additional cue to refine estimated 3D human meshes. Current methods optimize the pose and shape parameters with a reprojection loss on the provided 2D keypoints. Such an approach, while simple and…
We study global optimization of non-convex functions through optimal control theory. Our main result establishes that (quasi-)optimal trajectories of a discounted control problem converge globally and practically asymptotically to the set…
Ill-posed linear inverse problems (ILIP), such as restoration and reconstruction, are a core topic of signal/image processing. A standard approach to deal with ILIP uses a constrained optimization problem, where a regularization function is…
An algorithm which computes a solution of a set optimization problem is provided. The graph of the objective map is assumed to be given by finitely many linear inequalities. A solution is understood to be a set of points in the domain…
Tucker decomposition is a popular technique for many data analysis and machine learning applications. Finding a Tucker decomposition is a nonconvex optimization problem. As the scale of the problems increases, local search algorithms such…