Frictional Collisions Off Sharp Objects

This work develops robust contact algorithms capable of dealing with multibody nonsmooth contact geometries for which neither normals nor gap functions can be defined. Such situations arise in the early stage of fragmentation when a number of angular fragments undergo complex collision sequences before eventually scattering. Such situations precludes the application of most contact algorithms proposed to date

Multipliers Correction Methods for Optimization Problems over the Stiefel Manifold

We propose a class of multipliers correction methods to minimize a differentiable function over the Stiefel manifold. The proposed methods combine a function value reduction step with a proximal correction step. The former one searches along an arbitrary descent direction in the Euclidean space instead of a vector in the tangent space of the Stiefel manifold. Meanwhile, the latter one minimizes a first-order proximal approximation of the objective function in the range space of the current iterate to make Lagrangian multipliers associated with orthogonality constraints symmetric at any accumulation point. The global convergence has been established for the proposed methods. Preliminary numerical experiments demonstrate that the new methods significantly outperform other state-of-the-art first-order approaches in solving various kinds of testing problems.Comment: 21 pages, 9 figures, 1 tabl

Sum of squares lower bounds for refuting any CSP

Let $P:\{0,1\}^k \to \{0,1\}$ be a nontrivial $k$-ary predicate. Consider a random instance of the constraint satisfaction problem $\mathrm{CSP}(P)$ on $n$ variables with $\Delta n$ constraints, each being $P$ applied to $k$ randomly chosen literals. Provided the constraint density satisfies $\Delta \gg 1$, such an instance is unsatisfiable with high probability. The \emph{refutation} problem is to efficiently find a proof of unsatisfiability. We show that whenever the predicate $P$ supports a $t$-\emph{wise uniform} probability distribution on its satisfying assignments, the sum of squares (SOS) algorithm of degree $d = \Theta(\frac{n}{\Delta^{2/(t-1)} \log \Delta})$ (which runs in time $n^{O(d)}$) \emph{cannot} refute a random instance of $\mathrm{CSP}(P)$. In particular, the polynomial-time SOS algorithm requires $\widetilde{\Omega}(n^{(t+1)/2})$ constraints to refute random instances of CSP$(P)$ when $P$ supports a $t$-wise uniform distribution on its satisfying assignments. Together with recent work of Lee et al. [LRS15], our result also implies that \emph{any} polynomial-size semidefinite programming relaxation for refutation requires at least $\widetilde{\Omega}(n^{(t+1)/2})$ constraints. Our results (which also extend with no change to CSPs over larger alphabets) subsume all previously known lower bounds for semialgebraic refutation of random CSPs. For every constraint predicate~$P$, they give a three-way hardness tradeoff between the density of constraints, the SOS degree (hence running time), and the strength of the refutation. By recent algorithmic results of Allen et al. [AOW15] and Raghavendra et al. [RRS16], this full three-way tradeoff is \emph{tight}, up to lower-order factors.Comment: 39 pages, 1 figur

A Spectral Theory for Tensors

In this paper we propose a general spectral theory for tensors. Our proposed factorization decomposes a tensor into a product of orthogonal and scaling tensors. At the same time, our factorization yields an expansion of a tensor as a summation of outer products of lower order tensors . Our proposed factorization shows the relationship between the eigen-objects and the generalised characteristic polynomials. Our framework is based on a consistent multilinear algebra which explains how to generalise the notion of matrix hermicity, matrix transpose, and most importantly the notion of orthogonality. Our proposed factorization for a tensor in terms of lower order tensors can be recursively applied so as to naturally induces a spectral hierarchy for tensors.Comment: The paper is an updated version of an earlier versio