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Convex Analysis
, 1970
"... In this book we aim to present, in a unified framework, a broad spectrum of mathematical theory that has grown in connection with the study of problems of optimization, equilibrium, control, and stability of linear and nonlinear systems. The title Variational Analysis reflects this breadth. For a lo ..."
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Cited by 5350 (67 self)
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In this book we aim to present, in a unified framework, a broad spectrum of mathematical theory that has grown in connection with the study of problems of optimization, equilibrium, control, and stability of linear and nonlinear systems. The title Variational Analysis reflects this breadth. For a long time, ‘variational ’ problems have been identified mostly with the ‘calculus of variations’. In that venerable subject, built around the minimization of integral functionals, constraints were relatively simple and much of the focus was on infinitedimensional function spaces. A major theme was the exploration of variations around a point, within the bounds imposed by the constraints, in order to help characterize solutions and portray them in terms of ‘variational principles’. Notions of perturbation, approximation and even generalized differentiability were extensively investigated. Variational theory progressed also to the study of socalled stationary points, critical points, and other indications of singularity that a point might have relative to its neighbors, especially in association with existence theorems for differential equations.
Planning Algorithms
, 2004
"... This book presents a unified treatment of many different kinds of planning algorithms. The subject lies at the crossroads between robotics, control theory, artificial intelligence, algorithms, and computer graphics. The particular subjects covered include motion planning, discrete planning, planning ..."
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Cited by 1108 (51 self)
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This book presents a unified treatment of many different kinds of planning algorithms. The subject lies at the crossroads between robotics, control theory, artificial intelligence, algorithms, and computer graphics. The particular subjects covered include motion planning, discrete planning, planning under uncertainty, sensorbased planning, visibility, decisiontheoretic planning, game theory, information spaces, reinforcement learning, nonlinear systems, trajectory planning, nonholonomic planning, and kinodynamic planning.
Graphical models, exponential families, and variational inference
, 2008
"... The formalism of probabilistic graphical models provides a unifying framework for capturing complex dependencies among random variables, and building largescale multivariate statistical models. Graphical models have become a focus of research in many statistical, computational and mathematical fiel ..."
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Cited by 800 (26 self)
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The formalism of probabilistic graphical models provides a unifying framework for capturing complex dependencies among random variables, and building largescale multivariate statistical models. Graphical models have become a focus of research in many statistical, computational and mathematical fields, including bioinformatics, communication theory, statistical physics, combinatorial optimization, signal and image processing, information retrieval and statistical machine learning. Many problems that arise in specific instances — including the key problems of computing marginals and modes of probability distributions — are best studied in the general setting. Working with exponential family representations, and exploiting the conjugate duality between the cumulant function and the entropy for exponential families, we develop general variational representations of the problems of computing likelihoods, marginal probabilities and most probable configurations. We describe how a wide varietyof algorithms — among them sumproduct, cluster variational methods, expectationpropagation, mean field methods, maxproduct and linear programming relaxation, as well as conic programming relaxations — can all be understood in terms of exact or approximate forms of these variational representations. The variational approach provides a complementary alternative to Markov chain Monte Carlo as a general source of approximation methods for inference in largescale statistical models.
Geometry Compression
"... This paper introduces the concept of Geometry Compression, allowing 3D triangle data to be represented with a factor of 6 to 10 times fewer bits than conventional techniques, with only slight losses in object quality. The technique is amenable to rapid decompression in both software and hardware imp ..."
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Cited by 355 (0 self)
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This paper introduces the concept of Geometry Compression, allowing 3D triangle data to be represented with a factor of 6 to 10 times fewer bits than conventional techniques, with only slight losses in object quality. The technique is amenable to rapid decompression in both software and hardware implementations; if 3D rendering hardware contains a geometry decompression unit, application geometry can be stored in memory in compressed format. Geometry is first represented as a generalized triangle mesh, a data structure that allows each instance of a vertex in a linear stream to specify an average of two triangles. Then a variable length compression is applied to individual positions, colors, and normals. Delta compression followed by a modified Huffman compression is used for positions and colors; a novel tablebased approach is used for normals. The table allows any useful normal to be represented by an 18bit index, many normals can be represented with index deltas of 8 bits or less. Geometry compression is a general spacetime tradeoff, and offers advantages at every level of the memory/interconnect hierarchy: less storage space is needed on disk, less transmission time is needed on networks.
A Library for Doing Polyhedral Operations
, 1993
"... Polyhedra are geometric representations of linear systems of equations and inequalities. Since polyhedra are used to represent the iteration domains of nested loop programs, procedures for operating on polyhedra are useful for doing loop transformations and other program restructuring transformatio ..."
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Cited by 122 (13 self)
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transformations which are needed in parallelizing compilers. Thus a need for a library of polyhedral operations has recently been recognized in the parallelizing compiler community. Polyhedra are also used in the definition of domains of variables in systems of affine recurrence equations (SARE). Alpha is a
Code generation in the polyhedral model is easier than you think
 In IEEE Intl. Conf. on Parallel Architectures and Compilation Techniques (PACT’04
, 2004
"... Many advances in automatic parallelization and optimization have been achieved through the polyhedral model. It has been extensively shown that this computational model provides convenient abstractions to reason about and apply program transformations. Nevertheless, the complexity of code generation ..."
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Cited by 169 (17 self)
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generation has long been a deterrent for using polyhedral representation in optimizing compilers. First, code generators have a hard time coping with generated code size and control overhead that may spoil theoretical benefits achieved by the transformations. Second, this step is usually time consuming
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