The input to the \emph{Triangle Evacuation} problem is a triangle $ABC$. Given a starting point $S$ on the perimeter of the triangle, a feasible solution to the problem consists of two unit-speed trajectories of mobile agents that eventually visit every point on the perimeter of $ABC$. The cost of a feasible solution (evacuation cost) is defined as the supremum over all points $T$ of the time it takes that $T$ is visited for the first time by an agent plus the distance of $T$ to the other agent at that time. Similar evacuation type problems are well studied in the literature covering the unit circle, the $\ell_p$ unit circle for $p\geq 1$, the square, and the equilateral triangle. We extend this line of research to arbitrary non-obtuse triangles. Motivated by the lack of symmetry of our search domain, we introduce 4 different algorithmic problems arising by letting the starting edge and/or the starting point $S$ on that edge to be chosen either by the algorithm or the adversary. To that end, we provide a tight analysis for the algorithm that has been proved to be optimal for the previously studied search domains, as well as we provide lower bounds for each of the problems. Both our upper and lower bounds match and extend naturally the previously known results that were established only for equilateral triangles.
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3D reconstruction of deformable (or non-rigid) scenes from a set of monocular 2D image observations is a long-standing and actively researched area of computer vision and graphics. It is an ill-posed inverse problem, since--without additional prior assumptions--it permits infinitely many solutions leading to accurate projection to the input 2D images. Non-rigid reconstruction is a foundational building block for downstream applications like robotics, AR/VR, or visual content creation. The key advantage of using monocular cameras is their omnipresence and availability to the end users as well as their ease of use compared to more sophisticated camera set-ups such as stereo or multi-view systems. This survey focuses on state-of-the-art methods for dense non-rigid 3D reconstruction of various deformable objects and composite scenes from monocular videos or sets of monocular views. It reviews the fundamentals of 3D reconstruction and deformation modeling from 2D image observations. We then start from general methods--that handle arbitrary scenes and make only a few prior assumptions--and proceed towards techniques making stronger assumptions about the observed objects and types of deformations (e.g. human faces, bodies, hands, and animals). A significant part of this STAR is also devoted to classification and a high-level comparison of the methods, as well as an overview of the datasets for training and evaluation of the discussed techniques. We conclude by discussing open challenges in the field and the social aspects associated with the usage of the reviewed methods.
Proof terms are syntactic expressions that represent computations in term rewriting. They were introduced by Meseguer and exploited by van Oostrom and de Vrijer to study {\em equivalence of reductions} in (left-linear) first-order term rewriting systems. We study the problem of extending the notion of proof term to {\em higher-order rewriting}, which generalizes the first-order setting by allowing terms with binders and higher-order substitution. In previous works that devise proof terms for higher-order rewriting, such as Bruggink's, it has been noted that the challenge lies in reconciling composition of proof terms and higher-order substitution ($\beta$-equivalence). This led Bruggink to reject ``nested'' composition, other than at the outermost level. In this paper, we propose a notion of higher-order proof term we dub \emph{rewrites} that supports nested composition. We then define {\em two} notions of equivalence on rewrites, namely {\em permutation equivalence} and {\em projection equivalence}, and show that they coincide.
The advice model of online computation captures the setting in which the online algorithm is given some information concerning the request sequence. This paradigm allows to establish tradeoffs between the amount of this additional information and the performance of the online algorithm. However, unlike real life in which advice is a recommendation that we can choose to follow or to ignore based on trustworthiness, in the current advice model, the online algorithm treats it as infallible. This means that if the advice is corrupt or, worse, if it comes from a malicious source, the algorithm may perform poorly. In this work, we study online computation in a setting in which the advice is provided by an untrusted source. Our objective is to quantify the impact of untrusted advice so as to design and analyze online algorithms that are robust and perform well even when the advice is generated in a malicious, adversarial manner. To this end, we focus on well- studied online problems such as ski rental, online bidding, bin packing, and list update. For ski-rental and online bidding, we show how to obtain algorithms that are Pareto-optimal with respect to the competitive ratios achieved; this improves upon the framework of Purohit et al. [NeurIPS 2018] in which Pareto-optimality is not necessarily guaranteed. For bin packing and list update, we give online algorithms with worst-case tradeoffs in their competitiveness, depending on whether the advice is trusted or not; this is motivated by work of Lykouris and Vassilvitskii [ICML 2018] on the paging problem, but in which the competitiveness depends on the reliability of the advice. More importantly, we demonstrate how to prove lower bounds, within this model, on the tradeoff between the number of advice bits and the competitiveness of any online algorithm.
Trajectory optimization is an efficient approach for solving optimal control problems for complex robotic systems. It relies on two key components: first the transcription into a sparse nonlinear program, and second the corresponding solver to iteratively compute its solution. On one hand, differential dynamic programming (DDP) provides an efficient approach to transcribe the optimal control problem into a finite-dimensional problem while optimally exploiting the sparsity induced by time. On the other hand, augmented Lagrangian methods make it possible to formulate efficient algorithms with advanced constraint-satisfaction strategies. In this paper, we propose to combine these two approaches into an efficient optimal control algorithm accepting both equality and inequality constraints. Based on the augmented Lagrangian literature, we first derive a generic primal-dual augmented Lagrangian strategy for nonlinear problems with equality and inequality constraints. We then apply it to the dynamic programming principle to solve the value-greedy optimization problems inherent to the backward pass of DDP, which we combine with a dedicated globalization strategy, resulting in a Newton-like algorithm for solving constrained trajectory optimization problems. Contrary to previous attempts of formulating an augmented Lagrangian version of DDP, our approach exhibits adequate convergence properties without any switch in strategies. We empirically demonstrate its interest with several case-studies from the robotics literature.
The area under the ROC curve (AUC) is one of the most widely used performance measures for classification models in machine learning. However, it summarizes the true positive rates (TPRs) over all false positive rates (FPRs) in the ROC space, which may include the FPRs with no practical relevance in some applications. The partial AUC, as a generalization of the AUC, summarizes only the TPRs over a specific range of the FPRs and is thus a more suitable performance measure in many real-world situations. Although partial AUC optimization in a range of FPRs had been studied, existing algorithms are not scalable to big data and not applicable to deep learning. To address this challenge, we cast the problem into a non-smooth difference-of-convex (DC) program for any smooth predictive functions (e.g., deep neural networks), which allowed us to develop an efficient approximated gradient descent method based on the Moreau envelope smoothing technique, inspired by recent advances in non-smooth DC optimization. To increase the efficiency of large data processing, we used an efficient stochastic block coordinate update in our algorithm. Our proposed algorithm can also be used to minimize the sum of ranked range loss, which also lacks efficient solvers. We established a complexity of $\tilde O(1/\epsilon^6)$ for finding a nearly $\epsilon$-critical solution. Finally, we numerically demonstrated the effectiveness of our proposed algorithms for both partial AUC maximization and sum of ranked range loss minimization.
Comparing the functional behavior of neural network models, whether it is a single network over time or two (or more networks) during or post-training, is an essential step in understanding what they are learning (and what they are not), and for identifying strategies for regularization or efficiency improvements. Despite recent progress, e.g., comparing vision transformers to CNNs, systematic comparison of function, especially across different networks, remains difficult and is often carried out layer by layer. Approaches such as canonical correlation analysis (CCA) are applicable in principle, but have been sparingly used so far. In this paper, we revisit a (less widely known) from statistics, called distance correlation (and its partial variant), designed to evaluate correlation between feature spaces of different dimensions. We describe the steps necessary to carry out its deployment for large scale models -- this opens the door to a surprising array of applications ranging from conditioning one deep model w.r.t. another, learning disentangled representations as well as optimizing diverse models that would directly be more robust to adversarial attacks. Our experiments suggest a versatile regularizer (or constraint) with many advantages, which avoids some of the common difficulties one faces in such analyses. Code is at //github.com/zhenxingjian/Partial_Distance_Correlation.
Self-supervised learning approaches have lately achieved great success on a broad spectrum of machine learning problems. In the field of speech processing, one of the most successful recent self-supervised models is wav2vec 2.0. In this paper, we explore the effectiveness of this model on three basic speech classification tasks: speaker change detection, overlapped speech detection, and voice activity detection. First, we concentrate on only one task -- speaker change detection -- where our proposed system surpasses the previously reported results on four different corpora, and achieves comparable performance even when trained on out-of-domain data from an artificially designed dataset. Then we expand our approach to tackle all three tasks in a single multitask system with state-of-the-art performance on the AMI corpus. The implementation of the algorithms in this paper is publicly available at //github.com/mkunes/w2v2_audioFrameClassification.
Stochastic versions of proximal methods have gained much attention in statistics and machine learning. These algorithms tend to admit simple, scalable forms, and enjoy numerical stability via implicit updates. In this work, we propose and analyze a stochastic version of the recently proposed proximal distance algorithm, a class of iterative optimization methods that recover a desired constrained estimation problem as a penalty parameter $\rho \rightarrow \infty$. By uncovering connections to related stochastic proximal methods and interpreting the penalty parameter as the learning rate, we justify heuristics used in practical manifestations of the proximal distance method, establishing their convergence guarantees for the first time. Moreover, we extend recent theoretical devices to establish finite error bounds and a complete characterization of convergence rates regimes. We validate our analysis via a thorough empirical study, also showing that unsurprisingly, the proposed method outpaces batch versions on popular learning tasks.
The article proposes a new method for finding the triangle-triangle intersection in 3D space, based on the use of computer graphics algorithms -- cutting off segments on the plane when moving and rotating the beginning of the coordinate axes of space. This method is obtained by synthesis of two methods of cutting off segments on the plane -- Cohen-Sutherland algorithm and FC-algorithm. In the proposed method, the problem of triangle-triangle intersection in 3D space is reduced to a simpler and less resource-intensive cut-off problem on the plane. The main feature of the method is the developed scheme of coding the points of the cut-off in relation to the triangle segment plane. This scheme allows you to get rid of a large number of costly calculations. In the article the cases of intersection of triangles at parallelism, intersection and coincidence of planes of triangles are considered. The proposed method can be used in solving the problem of tetrahedron intersection, using the finite element method, as well as in image processing.
In this monograph, I introduce the basic concepts of Online Learning through a modern view of Online Convex Optimization. Here, online learning refers to the framework of regret minimization under worst-case assumptions. I present first-order and second-order algorithms for online learning with convex losses, in Euclidean and non-Euclidean settings. All the algorithms are clearly presented as instantiation of Online Mirror Descent or Follow-The-Regularized-Leader and their variants. Particular attention is given to the issue of tuning the parameters of the algorithms and learning in unbounded domains, through adaptive and parameter-free online learning algorithms. Non-convex losses are dealt through convex surrogate losses and through randomization. The bandit setting is also briefly discussed, touching on the problem of adversarial and stochastic multi-armed bandits. These notes do not require prior knowledge of convex analysis and all the required mathematical tools are rigorously explained. Moreover, all the proofs have been carefully chosen to be as simple and as short as possible.
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