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Interpreting objects with basic geometric primitives has long been studied in computer vision. Among geometric primitives, superquadrics are well known for their simple implicit expressions and capability of representing a wide range of shapes with few parameters. However, as the first and foremost step, recovering superquadrics accurately and robustly from 3D data still remains challenging. The existing methods are subject to local optima and are sensitive to noise and outliers in real-world scenarios, resulting in frequent failure in capturing geometric shapes. In this paper, we propose the first probabilistic method to recover superquadrics from point clouds. Our method builds a Gaussian-uniform mixture model (GUM) on the parametric surface of a superquadric, which explicitly models the generation of outliers and noise. The superquadric recovery is formulated as a Maximum Likelihood Estimation (MLE) problem. We propose an algorithm, Expectation, Maximization, and Switching (EMS), to solve this problem, where: (1) outliers are predicted from the posterior perspective; (2) the superquadric parameter is optimized by the trust-region reflective algorithm; and (3) local optima are avoided by globally searching and switching among parameters encoding similar superquadrics. We show that our method can be extended to the multi-superquadrics recovery for complex objects. The proposed method outperforms the state-of-the-art in terms of accuracy, efficiency, and robustness on both synthetic and real-world datasets. Codes will be released.

Wasserstein Barycenter is a principled approach to represent the weighted mean of a given set of probability distributions, utilizing the geometry induced by optimal transport. In this work, we present a novel scalable algorithm to approximate the Wasserstein Barycenters aiming at high-dimensional applications in machine learning. Our proposed algorithm is based on the Kantorovich dual formulation of the Wasserstein-2 distance as well as a recent neural network architecture, input convex neural network, that is known to parametrize convex functions. The distinguishing features of our method are: i) it only requires samples from the marginal distributions; ii) unlike the existing approaches, it represents the Barycenter with a generative model and can thus generate infinite samples from the barycenter without querying the marginal distributions; iii) it works similar to Generative Adversarial Model in one marginal case. We demonstrate the efficacy of our algorithm by comparing it with the state-of-art methods in multiple experiments.

Optimizing highly complex cost/energy functions over discrete variables is at the heart of many open problems across different scientific disciplines and industries. A major obstacle is the emergence of many-body effects among certain subsets of variables in hard instances leading to critical slowing down or collective freezing for known stochastic local search strategies. An exponential computational effort is generally required to unfreeze such variables and explore other unseen regions of the configuration space. Here, we introduce a quantum-inspired family of nonlocal Nonequilibrium Monte Carlo (NMC) algorithms by developing an adaptive gradient-free strategy that can efficiently learn key instance-wise geometrical features of the cost function. That information is employed on-the-fly to construct spatially inhomogeneous thermal fluctuations for collectively unfreezing variables at various length scales, circumventing costly exploration versus exploitation trade-offs. We apply our algorithm to two of the most challenging combinatorial optimization problems: random k-satisfiability (k-SAT) near the computational phase transitions and Quadratic Assignment Problems (QAP). We observe significant speedup and robustness over both specialized deterministic solvers and generic stochastic solvers. In particular, for 90% of random 4-SAT instances we find solutions that are inaccessible for the best specialized deterministic algorithm known as Survey Propagation (SP) with an order of magnitude improvement in the quality of solutions for the hardest 10% instances. We also demonstrate two orders of magnitude improvement in time-to-solution over the state-of-the-art generic stochastic solver known as Adaptive Parallel Tempering (APT).

This paper focuses on one of the most frequently visited multithreading library interfaces - ParallelFor. In this study, it is inferred that ParallelFor's end-to-end latency performance is noticeably affected by the frequency with which fetch-add-add (FAA) is called during program execution. This can be explained by ParallelFor's uniform semantics and the utilization of atomic FAA. To prove this assumption, a battery of tests was designed and conducted on diverse platforms. From the collected performance statistics and overall trends, several conclusions were drawn and a cost model is proposed to enhance performance by mitigating the influence of FAA.

The tensor power method generalizes the matrix power method to higher order arrays, or tensors. Like in the matrix case, the fixed points of the tensor power method are the eigenvectors of the tensor. While every real symmetric matrix has an eigendecomposition, the vectors generating a symmetric decomposition of a real symmetric tensor are not always eigenvectors of the tensor. In this paper we show that whenever an eigenvector is a generator of the symmetric decomposition of a symmetric tensor, then (if the order of the tensor is sufficiently high) this eigenvector is robust, i.e., it is an attracting fixed point of the tensor power method. We exhibit new classes of symmetric tensors whose symmetric decomposition consists of eigenvectors. Generalizing orthogonally decomposable tensors, we consider equiangular tight frame decomposable and equiangular set decomposable tensors. Our main result implies that such tensors can be decomposed using the tensor power method.

Any class of languages $\mathbf{L}$ accepted in time $\mathbf{T}$ has a counterpart $\mathbf{NL}$ accepted in nondeterministic time $\mathbf{NT}$. It follows from the definition of nondeterministic languages that $\mathbf{L} \subseteq \mathbf{NL}$. This work shows that every sufficiently powerful language in $\mathbf{L}$ contains a string corresponding to G\"{o}del's undecidable proposition, but this string is not contained in its nondeterministic counterpart. This inconsistency in the definition of nondeterministic languages shows that certain questions regarding nondeterministic time complexity equivalences are irrevocably ill-posed.

For points $(a,b)$ on an algebraic curve over a field $K$ with height $\mathfrak{h}$, the asymptotic relation between $\mathfrak{h}(a)$ and $\mathfrak{h}(b)$ has been extensively studied in diophantine geometry. When $K=\overline{k(t)}$ is the field of algebraic functions in $t$ over a field $k$ of characteristic zero, Eremenko in 1998 proved the following quasi-equivalence for an absolute logarithmic height $\mathfrak{h}$ in $K$: Given $P\in K[X,Y]$ irreducible over $K$ and $\epsilon>0$, there is a constant $C$ only depending on $P$ and $\epsilon$ such that for each $(a,b)\in K^2$ with $P(a,b)=0$, $$ (1-\epsilon) \deg(P,Y) \mathfrak{h}(b)-C \leq \deg(P,X) \mathfrak{h}(a) \leq (1+\epsilon) \deg(P,Y) \mathfrak{h}(b)+C. $$ In this article, we shall give an explicit bound for the constant $C$ in terms of the total degree of $P$, the height of $P$ and $\epsilon$. This result is expected to have applications in some other areas such as symbolic computation of differential and difference equations.

We study timed systems in which some timing features are unknown parameters. Parametric timed automata (PTAs) are a classical formalism for such systems but for which most interesting problems are undecidable. Notably, the parametric reachability emptiness problem, i.e., the emptiness of the parameter valuations set allowing to reach some given discrete state, is undecidable. Lower-bound/upper-bound parametric timed automata (L/U-PTAs) achieve decidability for reachability properties by enforcing a separation of parameters used as upper bounds in the automaton constraints, and those used as lower bounds. In this paper, we first study reachability. We exhibit a subclass of PTAs (namely integer-points PTAs) with bounded rational-valued parameters for which the parametric reachability emptiness problem is decidable. Using this class, we present further results improving the boundary between decidability and undecidability for PTAs and their subclasses such as L/U-PTAs. We then study liveness. We prove that: (1) the existence of at least one parameter valuation for which there exists an infinite run in an L/U-PTA is PSPACE-complete; (2) the existence of a parameter valuation such that the system has a deadlock is however undecidable; (3) the problem of the existence of a valuation for which a run remains in a given set of locations exhibits a very thin border between decidability and undecidability.

The problem of Approximate Nearest Neighbor (ANN) search is fundamental in computer science and has benefited from significant progress in the past couple of decades. However, most work has been devoted to pointsets whereas complex shapes have not been sufficiently treated. Here, we focus on distance functions between discretized curves in Euclidean space: they appear in a wide range of applications, from road segments to time-series in general dimension. For $\ell_p$-products of Euclidean metrics, for any $p$, we design simple and efficient data structures for ANN, based on randomized projections, which are of independent interest. They serve to solve proximity problems under a notion of distance between discretized curves, which generalizes both discrete Fr\'echet and Dynamic Time Warping distances. These are the most popular and practical approaches to comparing such curves. We offer the first data structures and query algorithms for ANN with arbitrarily good approximation factor, at the expense of increasing space usage and preprocessing time over existing methods. Query time complexity is comparable or significantly improved by our algorithms, our algorithm is especially efficient when the length of the curves is bounded.

This paper addresses the problem of formally verifying desirable properties of neural networks, i.e., obtaining provable guarantees that neural networks satisfy specifications relating their inputs and outputs (robustness to bounded norm adversarial perturbations, for example). Most previous work on this topic was limited in its applicability by the size of the network, network architecture and the complexity of properties to be verified. In contrast, our framework applies to a general class of activation functions and specifications on neural network inputs and outputs. We formulate verification as an optimization problem (seeking to find the largest violation of the specification) and solve a Lagrangian relaxation of the optimization problem to obtain an upper bound on the worst case violation of the specification being verified. Our approach is anytime i.e. it can be stopped at any time and a valid bound on the maximum violation can be obtained. We develop specialized verification algorithms with provable tightness guarantees under special assumptions and demonstrate the practical significance of our general verification approach on a variety of verification tasks.