Related papers: Barycode-based GJK Algorithm
We present a differentiable formulation of rigid-body contact dynamics for objects and robots represented as compositions of convex primitives. Existing optimization-based approaches simulating contact between convex primitives rely on a…
Despite filtered nearest neighbor search being a fundamental task in modern vector search systems, the performance of existing algorithms is highly sensitive to query selectivity and filter type. In particular, existing solutions excel…
In this paper, we discuss a class of distributed detection algorithms which can be viewed as implementations of Bayes' law in distributed settings. Some of the algorithms are proposed in the literature most recently, and others are first…
This paper proposes an improved quasi-Newton penalty decomposition algorithm for the minimization of continuously differentiable functions, possibly nonconvex, over sparse symmetric sets. The method solves a sequence of penalty subproblems…
In this study, we investigate the characteristics of scheduling sequences that enable efficient decoding of generalized low-density parity-check (GLDPC) codes under the layered message-passing algorithm. In particular, we show that…
This dissertation explores block decomposable methods for large-scale optimization problems. It focuses on alternating direction method of multipliers (ADMM) schemes and block coordinate descent (BCD) methods. Specifically, it introduces a…
In this paper, we propose a new algorithm to speed-up the convergence of accelerated proximal gradient (APG) methods. In order to minimize a convex function $f(\mathbf{x})$, our algorithm introduces a simple line search step after each…
Data-driven modeling plays an increasingly important role in different areas of engineering. For most of existing methods, such as genetic programming (GP), the convergence speed might be too slow for large scale problems with a large…
Cooperative robots can significantly assist people in their productive activities, improving the quality of their works. Collision detection is vital to ensure the safe and stable operation of cooperative robots in productive activities. As…
In this paper, we introduce a novel parallel contact algorithm designed to run efficiently in High-Performance Computing based supercomputers. Particular emphasis is put on its computational implementation in a multiphysics finite element…
We consider the classical Minimum Balanced Cut problem: given a graph $G$, compute a partition of its vertices into two subsets of roughly equal volume, while minimizing the number of edges connecting the subsets. We present the first {\em…
This paper proposes a novel proximal difference-of-convex (DC) algorithm enhanced with extrapolation and aggressive non-monotone line search for solving non-convex optimization problems. We introduce an adaptive conservative update strategy…
Unaligned Scene Change Detection aims to detect scene changes between image pairs captured at different times without assuming viewpoint alignment. To handle viewpoint variations, current methods rely solely on 2D visual cues to establish…
This paper provides a block coordinate descent algorithm to solve unconstrained optimization problems. In our algorithm, computation of function values or gradients is not required. Instead, pairwise comparison of function values is used.…
An interpolation-based decoding scheme for interleaved subspace codes is presented. The scheme can be used as a (not necessarily polynomial-time) list decoder as well as a probabilistic unique decoder. Both interpretations allow to decode…
Let $d$ be a (well-behaved) shortest-path metric defined on a path-connected subset of $\mathbb{R}^2$ and let $\mathcal{D}=\{D_1,\ldots,D_n\}$ be a set of geodesic disks with respect to the metric $d$. We prove that…
Coordinate descent with random coordinate selection is the current state of the art for many large scale optimization problems. However, greedy selection of the steepest coordinate on smooth problems can yield convergence rates independent…
Computing the minimum distance of a linear code is one of the fundamental problems in algorithmic coding theory. Vardy [14] showed that it is an \np-hard problem for general linear codes. In practice, one often uses codes with additional…
A new bound on the minimum distance of q-ary cyclic codes is proposed. It is based on the description by another cyclic code with small minimum distance. The connection to the BCH bound and the Hartmann--Tzeng (HT) bound is formulated…
In the automatic reassembly of fragments acquired using laser scanners to reconstruct objects, a crucial step is the matching of fractured surfaces. In this paper, we propose a novel local descriptor that uses the Gaussian Mixture Model…