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Autonomous systems need to understand the semantics and geometry of their surroundings in order to comprehend and safely execute object-level task specifications. This paper proposes an expressive yet compact model for joint object pose and…
In this paper, we introduce a quasi-Newton method optimized for efficiently solving quasi-linear elliptic equations and systems, with a specific focus on GPU-based computation. By approximating the Jacobian matrix with a combination of…
We show that the problem of finding the simplex of largest volume in the convex hull of $n$ points in $\mathbb{Q}^d$ can be approximated with a factor of $O(\log d)^{d/2}$ in polynomial time. This improves upon the previously best known…
We extend the notion of the smallest volume ellipsoid containing a convex body in~$\mathbb{R}^{d}$ to the setting of logarithmically concave functions. We consider a vast class of logarithmically concave functions whose superlevel sets are…
The Maximum Weight Independent Set of Polygons problem is a fundamental problem in computational geometry. Given a set of weighted polygons in the 2-dimensional plane, the goal is to find a set of pairwise non-overlapping polygons with…
We revisit the classic 0-1-Knapsack problem, in which we are given $n$ items with their weights and profits as well as a weight budget $W$, and the goal is to find a subset of items of total weight at most $W$ that maximizes the total…
We demonstrate a new approach to the computation of ratios of elliptic integrals. It turns out that almost closed polygons interscribed between two conics retain some of the properties of such closed polygons. We apply these retained…
The maximization of submodular functions have found widespread application in areas such as machine learning, combinatorial optimization, and economics, where practitioners often wish to enforce various constraints; the matroid constraint…
Let $K$ be a $d$ dimensional convex body with a twice continuously differentiable boundary and everywhere positive Gauss-Kronecker curvature. Denote by $K_n$ the convex hull of $n$ points chosen randomly and independently from $K$ according…
A general quantum circuit can be simulated classically in exponential time. If it has a planar layout, then a tensor-network contraction algorithm due to Markov and Shi has a runtime exponential in the square root of its size, or more…
Consider the Maximum Weight Independent Set problem for rectangles: given a family of weighted axis-parallel rectangles in the plane, find a maximum-weight subset of non-overlapping rectangles. The problem is notoriously hard both in the…
We prove that given a discrete space with $n$ points which is either embedded in a system of $k$ trees, or the Cartesian product of $k$ trees, we can compute all eccentricities in ${\cal O}(2^{{\cal O}(k\log{k})}(N+n)^{1+o(1)})$ time, where…
We present a new interior-point potential-reduction algorithm for solving monotone linear complementarity problems (LCPs) that have a particular special structure: their matrix $M\in{\mathbb R}^{n\times n}$ can be decomposed as $M=\Phi U +…
We present an algorithm that given a linear program with $n$ variables, $m$ constraints, and constraint matrix $A$, computes an $\epsilon$-approximate solution in $\tilde{O}(\sqrt{rank(A)}\log(1/\epsilon))$ iterations with high probability.…
When computing bounds, spatial branch-and-bound algorithms often linearly outer approximate convex relaxations for non-convex expressions in order to capitalize on the efficiency and robustness of linear programming solvers. Considering…
In the Onsager model of one-component hard-particle systems, the entire phase behaviour is dictated by a function of relative orientation, which represents the amount of space excluded to one particle by another at this relative…
Convex relaxations based on different hierarchies of linear/semi-definite programs have been used recently to devise approximation algorithms for various optimization problems. The approximation guarantee of these algorithms improves with…
Computing all-pairs shortest paths is a fundamental and much-studied problem with many applications. Unfortunately, despite intense study, there are still no significantly faster algorithms for it than the $\mathcal{O}(n^3)$ time algorithm…
We devise a polynomial-time approximation scheme for the classical geometric problem of finding an approximate short path amid weighted regions. In this problem, a triangulated region P comprising of n vertices, a positive weight associated…
We describe a generalised method for ellipsoid fitting against a minimum set of data points. The proposed method is numerically stable and applies to a wide range of ellipsoidal shapes, including highly elongated and arbitrarily oriented…