arXiv subjects

Benjamin Katz

Publications and source records attributed to Benjamin Katz.

4 recordsLinked to original sources

arXiv2026

Cohomological support varieties for monomial ideals

Let $R$ be a local or positively graded ring with a regular presentation $R \cong Q/I$ where $I$ is a monomial ideal generated by $n$ elements on a regular sequence. In Briggs-Grifo-Pollitz (2025), the authors classify the cohomological support varieties $\mathcal{V}_R(R)$ for $n \leqslant 5$. In this paper we extend their results to classify the varieties that can occur as $\mathcal{V}_R(R)$ for $n=6$. Moreover, we provide two families of rings, one realizing cohomological support varieties of unbounded codimension, the other realizing an unbounded number of components. Finally, we answer a question of Gintz (2026) about the varieties that occur as $\mathcal{V}_R(R)$ where $I$ is given by the edge ideal of a cycle.

math.AC↗

arXiv2026

Lifting systems for finite length modules

This paper is concerned with lifting modules along a surjective map of noetherian local rings, say $\varphi \colon R \twoheadrightarrow S$. A finitely generated $R$-module $L$ is a naive lift of an $S$-module $M$ if $L \otimes_R S \cong M$. We are concerned with the maximum depth and dimension among all naive lifts of $M$, which we call the liftable depth and liftable dimension, respectively, of $M$ along $\varphi$. We approach this via a notion of lifting systems that we introduce in this paper. We then provide a necessary and sufficient condition for a module of finite length to lift and Serre lift to a regular local ring in terms of lifting systems.

math.AC↗

arXiv2025

On the Ext Analog of the Euler Characteristic

The Euler form is an Ext analog of the Euler characteristic, and in this paper we study the Euler form and give some applications. The first being a question of Jorgensen, which bounds the projective dimension of a module over a complete intersection by using the vanishing of self extensions. Our second application uses the Euler form to yield a new result involving the vanishing of the higher Herbrand difference. Along the way we translate some of our results to the graded setting.

math.AC↗

arXiv2019

Highly Dynamic Quadruped Locomotion via Whole-Body Impulse Control and Model Predictive Control

Dynamic legged locomotion is a challenging topic because of the lack of established control schemes which can handle aerial phases, short stance times, and high-speed leg swings. In this paper, we propose a controller combining whole-body control (WBC) and model predictive control (MPC). In our framework, MPC finds an optimal reaction force profile over a longer time horizon with a simple model, and WBC computes joint torque, position, and velocity commands based on the reaction forces computed from MPC. Unlike existing WBCs, which attempt to track commanded body trajectories, our controller is focused more on the reaction force command, which allows it to accomplish high speed dynamic locomotion with aerial phases. The newly devised WBC is integrated with MPC and tested on the Mini-Cheetah quadruped robot. To demonstrate the robustness and versatility, the controller is tested on six different gaits in a number of different environments, including outdoors and on a treadmill, reaching a top speed of 3.7 m/s.

cs.RO↗