Polytope
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Related Articles from SNS
Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions
arXiv:2606.09719v1 Announce Type: new Abstract: Autonomous mobile robots operating in tight environments require motion planning frameworks that account for the physical footprint of the robot. Simplifying the geometry to a point or a circle is conservative and discards information needed to successfully and safely traverse narrow passages. This work proposes a safe local motion planning and control method that guarantees that a polytopic robot footprint stays inside a continuously updated...
Extreme Points of the $(0,\delta)$-LDP Polytope with Small Input Size and Arbitrary Output Sizes
Announce Type: new Abstract: The structure of locally differentially private (LDP) mechanisms can be understood through the geometry of the corresponding privacy polytope. While the extreme points of the \( (\epsilon,0)\)-LDP polytope are well characterized (Kairouz \emph{et al.}, 2014; Holohan \emph{et al.}, 2017; Pensia \emph{et al.}, 2017), comparatively little is known for the \((\epsilon,\delta)\)-LDP polytope with \(\delta>0\). Recent work (Elangovan and Jog, 2024) has shown that even...
Lean 4 Machine-Verified Proof of P = NP via the Pedigree Polytope Membership Problem
arXiv:2606.03194v1 Announce Type: new Abstract: The Membership Problem for Pedigree Polytope (M3P) asks, given $X\in\mathbb{Q}^{\binom{n}{3}}$, whether $X\in\mathrm{conv}(P_n)$, where $P_n$ is the set of all pedigrees. A pedigree is a structured encoding of a Hamiltonian cycle construction in $K_n$. We establish that M3P is solvable in strongly polynomial time via a recursively constructed layered network $(N_k, R_k, \mu)$ and a multicommodity flow problem MCF$(k)$. The necessary and...
Apple-Peel Unfolding in Three and Four Dimensions: Spiral and Zonal Selection Rules
arXiv:2605.30373v1 Announce Type: new Abstract: Apple-Peel Unfolding is a greedy algorithm that selects the faces (or cells) of a polyhedron (or polytope) one at a time in a spiral order, producing a net analogous to peeling an apple in a single continuous strip. We define two face-selection rules -- RS (Spiral rule: minimum signed determinant, i.e.\ sharpest clockwise turn) and RZ (Zonal rule: maximum coordinate along the peeling axis) -- and systematically evaluate their unfolding success...
KromHC: Manifold-Constrained Hyper-Connections with Kronecker-Product Residual Matrices
Announce Type: replace Abstract: The success of Hyper-Connections (HC) in neural networks (NN) has also highlighted issues related to training instability and restricted scalability. The Manifold-Constrained Hyper-Connections (mHC) mitigate these challenges by projecting the residual connection space onto a Birkhoff polytope, however, it faces two issues: 1) its iterative Sinkhorn-Knopp (SK) algorithm does not always yield exactly doubly stochastic residual matrices; 2) mHC incurs a...
Tunable Real-Time Safety Filters via Set-Based Control Barrier Functions
arXiv:2507.07805v3 Announce Type: replace Abstract: Safety filters for industrial constrained systems are required to combine certified constraint satisfaction, predictable online computation, and a transparent tuning interface. Existing set-based filters are based on a well-established control invariant set design that scales favorably with state and input constraints, but typically intervene only at the set boundary. Control barrier function (CBF)-based filters, by contrast, provide...
Stabilization-free virtual element methods based on finite element interpolation
Announce Type: new Abstract: In this paper, we introduce a new framework for designing stabilization-free virtual element methods (VEMs) based on an finite element interpolation-based strategy, where we can simultaneously eliminate the stabilization terms in the discretizations of diffusion and reaction terms. The core idea is to construct a computable, polynomial-preserving, and norm-equivalent interpolation operator from the virtual element space to a (local) finite element space....
Real-Time and Accurate Collision-Free Teleoperation via Differentiable Constraint-Based Trajectory Planning
arXiv:2606.08725v1 Announce Type: new Abstract: In teleoperation, the human operator typically controls only the end-effector pose, which often leads to self-collisions of the manipulator and collisions with environmental obstacles, since joints and links are not controlled individually. A common strategy to mitigate this issue is to enhance the operator's input using optimal-control-based trajectory planning.
$\mathbb{R}^{2k}$ is Theoretically Large Enough for Embedding-based Top-$k$ Retrieval
Announce Type: replace Abstract: This paper studies the Minimal Embeddable Dimension (MED): the least dimension in which there exists a configuration of $m$ object vectors so that every subset of size at most $k$ is exactly retrieved by score comparison. Our result shows MED is $\Theta(k)$, independent of $m$, for inner product, Euclidean distance, and cosine similarity. We then consider Robust MED (RMED), where all vectors are unit normed and an $\epsilon$ gap of scores is required.