Sinkhorn Barycenters with Free Support via Frank-Wolfe Algorithm

We present a novel algorithm to estimate the barycenter of arbitrary probability distributions with respect to the Sinkhorn divergence. Based on a Frank-Wolfe optimization strategy, our approach proceeds by populating the support of the barycenter incrementally, without requiring any pre-allocation. We consider discrete as well as continuous distributions, proving convergence rates of the proposed algorithm in both settings. Key elements of our analysis are a new result showing that the Sinkhorn divergence on compact domains has Lipschitz continuous gradient with respect to the Total Variation and a characterization of the sample complexity of Sinkhorn potentials. Experiments validate the effectiveness of our method in practice.Comment: 46 pages, 8 figure

Scale Invariant Interest Points with Shearlets

Shearlets are a relatively new directional multi-scale framework for signal analysis, which have been shown effective to enhance signal discontinuities such as edges and corners at multiple scales. In this work we address the problem of detecting and describing blob-like features in the shearlets framework. We derive a measure which is very effective for blob detection and closely related to the Laplacian of Gaussian. We demonstrate the measure satisfies the perfect scale invariance property in the continuous case. In the discrete setting, we derive algorithms for blob detection and keypoint description. Finally, we provide qualitative justifications of our findings as well as a quantitative evaluation on benchmark data. We also report an experimental evidence that our method is very suitable to deal with compressed and noisy images, thanks to the sparsity property of shearlets

SCONCE: A cosmic web finder for spherical and conic geometries

The latticework structure known as the cosmic web provides a valuable insight into the assembly history of large-scale structures. Despite the variety of methods to identify the cosmic web structures, they mostly rely on the assumption that galaxies are embedded in a Euclidean geometric space. Here we present a novel cosmic web identifier called SCONCE (Spherical and CONic Cosmic wEb finder) that inherently considers the 2D (RA,DEC) spherical or the 3D (RA,DEC,$z$) conic geometry. The proposed algorithms in SCONCE generalize the well-known subspace constrained mean shift (SCMS) method and primarily address the predominant filament detection problem. They are intrinsic to the spherical/conic geometry and invariant to data rotations. We further test the efficacy of our method with an artificial cross-shaped filament example and apply it to the SDSS galaxy catalogue, revealing that the 2D spherical version of our algorithms is robust even in regions of high declination. Finally, using N-body simulations from Illustris, we show that the 3D conic version of our algorithms is more robust in detecting filaments than the standard SCMS method under the redshift distortions caused by the peculiar velocities of halos. Our cosmic web finder is packaged in python as SCONCE-SCMS and has been made publicly available.Comment: 20 pages, 9 figures, 2 table

Automated sequence and motion planning for robotic spatial extrusion of 3D trusses

While robotic spatial extrusion has demonstrated a new and efficient means to fabricate 3D truss structures in architectural scale, a major challenge remains in automatically planning extrusion sequence and robotic motion for trusses with unconstrained topologies. This paper presents the first attempt in the field to rigorously formulate the extrusion sequence and motion planning (SAMP) problem, using a CSP encoding. Furthermore, this research proposes a new hierarchical planning framework to solve the extrusion SAMP problems that usually have a long planning horizon and 3D configuration complexity. By decoupling sequence and motion planning, the planning framework is able to efficiently solve the extrusion sequence, end-effector poses, joint configurations, and transition trajectories for spatial trusses with nonstandard topologies. This paper also presents the first detailed computation data to reveal the runtime bottleneck on solving SAMP problems, which provides insight and comparing baseline for future algorithmic development. Together with the algorithmic results, this paper also presents an open-source and modularized software implementation called Choreo that is machine-agnostic. To demonstrate the power of this algorithmic framework, three case studies, including real fabrication and simulation results, are presented.Comment: 24 pages, 16 figure