Related papers: Geometric Queries on Closed Implicit Surfaces for …
This paper addresses the challenge of accommodating nonlinear dynamics and constraints in rapid trajectory optimization, envisioned for use in the context of onboard guidance. We present a novel framework that uniquely employs…
Sliced Optimal Transport (OT) simplifies the OT problem in high-dimensional spaces by projecting supports of input measures onto one-dimensional lines and then exploiting the closed-form expression of the univariate OT to reduce 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…
Constrained non-convex optimization is fundamentally challenging, as global solutions are generally intractable and constraint qualifications may not hold. However, in many applications, including safe policy optimization in control and…
Most of the existing point-to-mesh distance query solvers, such as Proximity Query Package (PQP), Embree and Fast Closest Point Query (FCPW), are based on bounding volume hierarchy (BVH). The hierarchical organizational structure enables…
This article deals with the existence of hypersurfaces minimizing general shape functionals under certain geometric constraints. We consider as admissible shapes orientable hypersurfaces satisfying a so-called reach condition, also known as…
We present several results in the CONGEST model on round complexity for Replacement Paths (RPaths), Minimum Weight Cycle (MWC), and All Nodes Shortest Cycles (ANSC). We study these fundamental problems in both directed and undirected…
This paper proposes a mesh-free computational framework and machine learning theory for solving elliptic PDEs on unknown manifolds, identified with point clouds, based on diffusion maps (DM) and deep learning. The PDE solver is formulated…
Implicitly described domains are a well established tool in the simulation of time dependent problems, e.g. using level-set methods. In order to solve partial differential equations on such domains, a range of numerical methods was…
In this manuscript, an original numerical procedure for the nonlinear peridynamics on arbitrarily--shaped two-dimensional (2D) closed manifolds is proposed. When dealing with non parameterized 2D manifolds at the discrete scale, the problem…
We study the Shortest-Walk Problem (SWP) in a Graph of Convex Sets (GCS). A GCS is a graph where each vertex is paired with a convex program, and each edge couples adjacent programs via additional costs and constraints. A walk in a GCS is a…
Partial differential equation (PDE) solvers underpin scientific computing, but real-world deployment is bounded by compute. Classical Monte Carlo solvers such as Walk-on-Spheres (WoS) are unbiased and geometry-agnostic but are slow. Learned…
This paper introduces and develops novel coderivative-based Newton methods with Wolfe linesearch conditions to solve various classes of problems in nonsmooth optimization. We first propose a generalized regularized Newton method with Wolfe…
Decision Diagrams (DDs) have emerged as a powerful tool for discrete optimization, with rapidly growing adoption. DDs are directed acyclic layered graphs; restricted DDs are a generalized greedy heuristic for finding feasible solutions, and…
We consider the problem of solving partial differential equations (PDEs) in domains with complex microparticle geometry that is impractical, or intractable, to model explicitly. Drawing inspiration from volume rendering, we propose tackling…
At each iteration of a Block Coordinate Descent method one minimizes an approximation of the objective function with respect to a generally small set of variables subject to constraints in which these variables are involved. The…
We propose a differentiable sphere tracing algorithm to bridge the gap between inverse graphics methods and the recently proposed deep learning based implicit signed distance function. Due to the nature of the implicit function, the…
We give the first mathematical construction of two-dimensional traveling bore wave solutions to the free boundary incompressible Navier-Stokes equations for a single finite depth layer of constant density fluid. Our construction is based on…
We propose a method for zeroth order stochastic convex optimization that attains the suboptimality rate of $\tilde{\mathcal{O}}(n^{7}T^{-1/2})$ after $T$ queries for a convex bounded function $f:{\mathbb R}^n\to{\mathbb R}$. The method is…
Many core problems in robotics can be framed as constrained optimization problems. Often on these problems, the robotic system has uncertainty, or it would be advantageous to identify multiple high quality feasible solutions. To enable…