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Robotic affordance estimation is challenging due to visual, geometric, and semantic ambiguities in sensory input. We propose a method that disambiguates these signals using two coupled recursive estimators for sub-aspects of affordances:…
This paper gives simple distributed algorithms for the fundamental problem of computing graph distances in the Congested Clique model. One of the main components of our algorithms is fast matrix multiplication, for which we show an…
Our work presents a new iterative scheme to approximate the fixed points of nonexpansive mapping. The proposed algorithm is constructed to enhance convergence efficiency while preserving theoretical robustness. Under appropriate assumptions…
We present an alternate formulation of the partial assignment problem as matching random clique complexes, that are higher-order analogues of random graphs, designed to provide a set of invariants that better detect higher-order structure.…
We propose a new embedding method which is particularly well-suited for settings where the sample size greatly exceeds the ambient dimension. Our technique consists of partitioning the space into simplices and then embedding the data points…
We investigate a new sampling scheme aimed at improving the performance of particle filters whenever (a) there is a significant mismatch between the assumed model dynamics and the actual system, or (b) the posterior probability tends to…
The $k$-Center problem is one of the most popular clustering problems. After decades of work, the complexity of most of its variants on general metrics is now well understood. Surprisingly, this is not the case for a natural setting that…
This paper provides a self-contained exploration of subdivisions of simplicial complexes, with emphasis on barycentric subdivision. We present formal definitions of subdivisions, show how the realization of a complex is preserved under…
Given a simplicial complex $K$, we consider several notions of geometric complexity of embeddings of $K$ in a Euclidean space ${\mathbb R}^d$: thickness, distortion, and refinement complexity (the minimal number of simplices needed for a PL…
It is well known that selecting a good Mixed Integer Programming (MIP) formulation is crucial for an effective solution with state-of-the art solvers. While best practices and guidelines for constructing good formulations abound, there is…
We introduce a new invariant defined on the vertices of a given filtered simplicial complex, called codensity, which controls the impact of removing vertices on persistent homology. We achieve this control through the use of an interleaving…
Random hypothesis sampling lies at the core of many popular robust fitting techniques such as RANSAC. In this paper, we propose a novel hypothesis sampling scheme based on incremental computation of distances between partial rankings…
This paper gives poly-logarithmic-round, distributed D-approximation algorithms for covering problems with submodular cost and monotone covering constraints (Submodular-cost Covering). The approximation ratio D is the maximum number of…
Consider a set $P$ of $n$ points in $\mathbb{R}^d$. In the discrete median line segment problem, the objective is to find a line segment bounded by a pair of points in $P$ such that the sum of the Euclidean distances from $P$ to the line…
We show how a filtration of Delaunay complexes can be used to approximate the persistence diagram of the distance to a point set in $R^d$. Whereas the full Delaunay complex can be used to compute this persistence diagram exactly, it may…
An algorithm is presented that constructs an acyclic partial matching on the cells of a given simplicial complex from a vector-valued function defined on the vertices and extended to each simplex by taking the least common upper bound of…
Motivated by applications in redistricting, we consider the uniform capacitated k-median and uniform capacitated k-means problems in bounded doubling metrics. We provide the first QPTAS for both problems and the first PTAS for the uniform…
The set of 2-dimensional packing problems builds an important class of optimization problems and Strip Packing together with 2-dimensional Bin Packing and 2-dimensional Knapsack is one of the most famous of these problems. Given a set of…
We give an asymptotic approximation scheme (APTAS) for the problem of packing a set of circles into a minimum number of unit square bins. To obtain rational solutions, we use augmented bins of height $1+\gamma$, for some arbitrarily small…
A classic result of Williamson, Goemans, Mihail, and Vazirani [STOC 1993: 708-717] states that the problem of covering an uncrossable set family by a min-cost edge set admits approximation ratio $2$, by a primal-dual algorithm with a…