arXiv subjects

Grigoriy Blekherman

Publications and source records attributed to Grigoriy Blekherman.

At least 19 recordsLinked to original sources

arXiv2026

Eigenvalues of locally positive semidefinite matrices: Non-convexity and Geometry

A real symmetric matrix is called $d$-locally positive semidefinite if all of its $d \times d$ principal submatrices are positive semidefinite. We investigate the spectral geometry of $d$-locally positive semidefinite matrices. The set of vectors of eigenvalues of $d$-locally positive semidefinite matrices of size $n \times n$ is fully understood and known to be convex when $d \in \{1,n-1,n\}$ \cite{blekherman2022hyperbolic}. In the smallest remaining case $n=4, d=2$, non-convexity of the set of vectors of eigenvalues was proved in \cite{kozhasov2023eigenvalues}, but even in this case the full description was unknown. We provide a basic semialgebraic description of the set of vectors of eigenvalues for $n=4, d=2$ by establishing a Fischer-type inequality for $2$-locally positive semidefinite matrices of size $4 \times 4$ and prove non-convexity for $n \geq 4$ and $d \in \{2, n-2\}$. Non-convexity is established via solving certain non-smooth and non-convex min-max point configuration problems in the complex plane, which could be interesting in themselves. Similar problems were considered in \cite{nesterenko2024submatrices,sengupta2026submatrices} in the context of matrix decomposition and approximation.

math.RA↗

arXiv2026

Spurious local minima in nonconvex sum-of-squares optimization

We study spurious second-order stationary points and local minima in a nonconvex low-rank formulation of sum-of-squares optimization on a real variety $X$. We reformulate the problem of finding a spurious local minimum in terms of syzygies of the underlying linear series, and also bring in topological tools to study this problem. When the variety $X$ is of minimal degree, there exist spurious second-order stationary points if and only if both the dimension and the codimension of the variety are greater than one, answering a question by Legat, Yuan, and Parrilo. Moreover, for surfaces of minimal degree, we provide sufficient conditions to exclude points from being spurious local minima. In particular, all second-order stationary points associated with infinite Gram matrices on the Veronese surface, corresponding to ternary quartics, lie on the boundary and can be written as a binary quartic, up to a linear change of coordinates, complementing work by Scheiderer on decompositions of ternary quartics as a sum of three squares. For general varieties of higher degree, we give examples and characterizations of spurious second-order stationary points in the interior, together with a restricted path algorithm that avoids such points with controlled step sizes, and numerical experiment results illustrating the empirical successes on plane cubic curves and Veronese varieties.

math.OC↗

arXiv2026

Copositive Matrices with Ordered Off-Diagonal Entries

We study copositive matrices which admit a decomposition into a sum of a positive semidefinite matrix and a matrix with nonnegative entries. Our main result shows that if the off-diagonal entries of a copositive matrix are nondecreasing in rows and in columns, then it admits such a decomposition. We apply this result to study optimization of quadratic forms over the standard simplex. As a corollary, we obtain that a natural relaxation of this problem is tight when the objective function is separable, resolving an open question of Dey and Kocuk.

math.OC↗

arXiv2026

Unifying Sidewinding and Rolling: A Wave-Based Framework for Self-Righting in Elongated Limbless and Multi-Legged Robots

Centipede-like robots offer unique locomotion advantages due to their small cross-sectional area for accessing confined spaces, and their redundant legs enhance robustness in cluttered environments such as search-and-rescue and pipe inspection. However, elongated robots are particularly vulnerable to tipping over when climbing large obstacles, making reliable self-righting essential for field deployment. Self-righting strategies for elongate, multi-legged systems remain poorly understood. In this study, we conduct a comparative biomechanics and robophysical investigation to address three key questions: (1) What self-righting strategies are effective for elongate, many-legged systems? (2) How should these strategies depend on morphological parameters such as leg length and leg number? (3) Is there a morphological limit beyond which reliable self-righting becomes infeasible? We compare two biological exemplars: Scolopendra subspinipes (short legs) and Scutigera coleoptrata (house centipedes with long legs). Scolopendra subspinipes reliably self-rights both during aerial phases and through ground-assisted self-righting, whereas house centipedes rely predominantly on aerial reorientation and struggle to generate effective self-righting torques during ground contact. Motivated by these observations, we construct a parameterized space of bio-inspired self-righting strategies and develop an elongate robot with adjustable leg lengths. Systematic experiments reveal that increasing leg length necessitates a shift in control strategy to prevent torque over-concentration in mid-body actuators, and we identify a critical limb-length threshold above which robust self-righting becomes challenging. These results establish morphology-strategy coupling principles for self-righting in elongate robots and provide design guidelines for centipede-like systems operating in uncertain terrain.

cs.RO↗

arXiv2026

Nonnegative Polynomials and Moment Problems on Algebraic Curves

The cone of nonnegative polynomials is of fundamental importance in real algebraic geometry, but its facial structure is understood in very few cases. We initiate a systematic study of the facial structure of the cone of nonnegative polynomials $\pos$ on a smooth real projective curve $X$. We show that there is a duality between its faces and totally real effective divisors on $X$. This allows us to fully describe the face lattice in case $X$ has genus one. We compute the Carathéodory number of the dual moment cone $\pos^\vee$ for an elliptic normal curve $X$, which measures the complexity of quadrature rules of measures supported on $X$. Interestingly, the topology of the real locus of $X$ influences the Carathéodory number of $\pos^\vee$. We apply our results to truncated moment problems on affine cubic curves, where we deduce sharp bounds on the flat extension degree.

math.AG↗

arXiv2026

Stubborn Polynomials

The relationship between nonnegative polynomials and sums of squares is a classical topic in real algebraic geometry. We study \emph{stubborn polynomials} $f$ on a real variety $X$, which are polynomials nonnegative on $X$, such that no odd power of $f$ is a sum of squares. Previously, stubborn polynomials were studied only in the globally nonnegative case, with results restricted to polynomials nonnegative on $\mathbb{P}^2$. We fully characterize stubborn polynomials on smooth curves, showing that a polynomial on a smooth totally real curve is stubborn if and only if all of its zeros are real. This implies that there exist smooth curves with no stubborn polynomials in low degree, while stubborn polynomials must exist in sufficiently high degrees on curves with positive genus. We explore the much more delicate situation with singular and reducible curves. While being real-rooted always implies being stubborn, there also exist singular curves with no stubborn polynomials at all. We then analyze the case of ternary sextics, i.e.,~polynomials of degree $6$ on $\mathbb{P}^2$. We prove the Conjecture of Blekherman, Kozhasov, and Reznick that a nonnegative ternary sextic is stubborn if and only if its real delta-invariant is at least 9. To analyze this case, we develop results for lifting stubborn polynomials from curves to higher dimensional varieties and use the theory of weak Del Pezzo surfaces. We complement these results with structural properties of stubborn polynomials and present many explicit examples.

math.AG↗

arXiv2025

Moments, Sums of Squares, and Tropicalization

We use tropicalization to study the duals to cones of nonnegative polynomials and sums of squares on a semialgebraic set $S$. The truncated cones of moments of measures supported on the set $S$ is dual to nonnegative polynomials on $S$, while "pseudo-moments" are dual to sums of squares approximations to nonnegative polynomials. We provide explicit combinatorial descriptions of tropicalizations of the moment and pseudo-moment cones, and demonstrate their usefulness in distinguishing between nonnegative polynomials and sums of squares. We give examples that show new limitations of sums of squares approximations of nonnegative polynomials. When the semialgebraic set is defined by binomial inequalites, its moment and pseudo-moment cones are closed under Hadamard product. In this case, their tropicalizations are polyhedral cones that encode all binomial inequalities on the moment and pseudo-moment cones.

math.AG↗

arXiv2025

On Domination Exponents for Pairs of Graphs

Understanding graph density profiles is notoriously challenging. Even for pairs of graphs, complete characterizations are known only in very limited cases, such as edges versus cliques. This paper explores a relaxation of the graph density profile problem by examining the homomorphism density domination exponent $C(H_1, H_2)$. This is the smallest real number $c \geq 0$ such that $t(H_1, T) \geq t(H_2, T)^c$ for all target graphs $T$ (if such a $c$ exists) where $t(H,T)$ is the homomorphism density from $H$ to $T$. We demonstrate that infinitely many families of graphs are required to realize $C(H_1, H_2)$ for all connected graphs $H_1$, $H_2$. We derive the homomorphism density domination exponent for a variety of graph pairs, including paths and cycles. As a couple of typical examples, we obtain exact values when $H_1$ is an even cycle and $H_2$ contains a Hamiltonian cycle, and provide asymptotically sharp bounds when both $H_1$ and $H_2$ are odd cycles.

math.CO↗

arXiv2025

Robust control for multi-legged elongate robots in noisy environments

Modern two and four legged robots exhibit impressive mobility on complex terrain, largely attributed to advancement in learning algorithms. However, these systems often rely on high-bandwidth sensing and onboard computation to perceive/respond to terrain uncertainties. Further, current locomotion strategies typically require extensive robot-specific training, limiting their generalizability across platforms. Building on our prior research connecting robot-environment interaction and communication theory, we develop a new paradigm to construct robust and simply controlled multi-legged elongate robots (MERs) capable of operating effectively in cluttered, unstructured environments. In this framework, each leg-ground contact is thought of as a basic active contact (bac), akin to bits in signal transmission. Reliable locomotion can be achieved in open-loop on "noisy" landscapes via sufficient redundancy in bacs. In such situations, robustness is achieved through passive mechanical responses. We term such processes as those displaying mechanical intelligence (MI) and analogize these processes to forward error correction (FEC) in signal transmission. To augment MI, we develop feedback control schemes, which we refer to as computational intelligence (CI) and such processes analogize automatic repeat request (ARQ) in signal transmission. Integration of these analogies between locomotion and communication theory allow analysis, design, and prediction of embodied intelligence control schemes (integrating MI and CI) in MERs, showing effective and reliable performance (approximately half body lengths per cycle) on complex landscapes with terrain "noise" over twice the robot's height. Our work provides a foundation for systematic development of MER control, paving the way for terrain-agnostic, agile, and resilient robotic systems capable of operating in extreme environments.

cs.RO↗

arXiv2025

Semigroups of Integer Points in Convex Cones

We study the question whether the affine semigroup of integer points in a convex cone can be finitely generated up to symmetries of the cone. We establish general properties of finite generation up to symmetry, and then concentrate on the case of irrational polyhedral cones.

math.NT↗

arXiv2024

The Wonderful Geometry of the Vandermonde map

We study the geometry of the image of the nonnegative orthant under the power-sum map and the elementary symmetric polynomials map. After analyzing the image in finitely many variables, we concentrate on the limit as the number of variables approaches infinity. We explain how the geometry of the limit plays a crucial role in undecidability results in nonnegativity of symmetric polynomials, deciding validity of trace inequalities in linear algebra, and extremal combinatorics - recently observed by Blekherman, Raymond, and F. Wei. We verify the experimental observation that the image has the combinatorial geometry of a cyclic polytope made by Melánová, Sturmfels, and Winter, and generalize results of Choi, Lam, and Reznick on nonnegative even symmetric polynomials. We also show that undecidability does not hold for the normalized power sum map.

math.AG↗

arXiv2024

Pythagoras Numbers for Ternary Forms

We study the Pythagoras numbers $py(3,2d)$ of real ternary forms, defined for each degree $2d$ as the minimal number $r$ such that every degree $2d$ ternary form which is a sum of squares can be written as the sum of at most $r$ squares of degree $d$ forms. Scheiderer showed that $d+1\leq py(3,2d)\leq d+2$. We show that $py(3,2d) = d+1$ for $2d = 8,10,12$. The main technical tool is Diesel's characterization of height 3 Gorenstein algebras.

math.AG↗

arXiv2024

Nonnegativity certificates on real algebraic surfaces

We introduce tools for transferring nonnegativity certificates for global sections between line bundles on real algebraic surfaces. As applications, we improve Hilbert's degree bounds on sum-of-squares multipliers for nonnegative ternary forms, give a complete characterization of nonnegative real forms of del Pezzo surfaces, and establish quadratic upper bounds for the degrees of sum-of-squares multipliers for nonnegative forms on real ruled surfaces.

math.AG↗

arXiv2024

Symmetric nonnegative functions, the tropical Vandermonde cell and superdominance of power sums

We study nonnegative and sums of squares symmetric (and even symmetric) functions of fixed degree. We can think of these as limit cones of symmetric nonnegative polynomials and symmetric sums of squares of fixed degree as the number of variables goes to infinity. We compare these cones, including finding explicit examples of nonnegative polynomials which are not sums of squares for any sufficiently large number of variables, and compute the tropicalizations of their dual cones in the even symmetric case. We find that the tropicalization of the dual cones is naturally understood in terms of the overlooked superdominance order on partitions. The power sum symmetric functions obey this same partial order (analogously to how term-normalized power sums obey the dominance order).

math.AG↗

arXiv2024

On odd powers of nonnegative polynomials that are not sums of squares

We initiate a systematic study of nonnegative polynomials $P$ such that $P^k$ is not a sum of squares for any odd $k\geq 1$, calling such $P$ \emph{stubborn}. We develop a new invariant of a real isolated zero of a nonnegative polynomial in the plane, that we call \emph{the SOS-invariant}, and relate it to the well-known delta invariant of a plane curve singularity. Using the SOS-invariant we show that any polynomial that spans an extreme ray of the convex cone of nonnegative ternary forms of degree 6 is stubborn. We also show how to use the SOS-invariant to prove stubbornness of ternary forms in higher degree. Furthermore, we prove that in a given degree and number of variables, nonnegative polynomials that are not stubborn form a convex cone, whose interior consists of all strictly positive polynomials.

math.AG↗

arXiv2024

A Topological Approach to Simple Descriptions of Convex Hulls of Sets Defined by Three Quadrics

We study the convex hull of a set $S\subset \mathbb{R}^n$ defined by three quadratic inequalities. A simple way of generating inequalities valid on $S$ is to take nonnegative linear combinations of the defining inequalities of $S$. We call such inequalities aggregations. We introduce a new technique relating aggregations to properties of the spectral curve, i.e. the curve defined by the vanishing of the determinant polynomial, and utilizing known spectral sequences (Agrachev and Lerario, 2012). We find new families beyond those identified in (Dey, Muñoz, and Serrano, 2022; Blekherman, Dey, and Sun, 2024), where the convex hull is defined by aggregations. We also prove a characterization of the emptiness of the projective variety defined by $3$ homogeneous quadratics in terms of the spectral curve generalizing results of (Agrachev, 1988).

math.AG↗

arXiv2024

$\mathcal{K}$-Lorentzian Polynomials

Lorentzian polynomials are a fascinating class of real polynomials with many applications. Their definition is specific to the nonnegative orthant. Following recent work, we examine Lorentzian polynomials on proper convex cones. For a self-dual cone $\mathcal{K}$ we find a connection between $\mathcal{K}$-Lorentzian polynomials and $\mathcal{K}$-positive linear maps, which were studied in the context of the generalized Perron-Frobenius theorem. We find that as the cone $\mathcal{K}$ varies, even the set of quadratic $\mathcal{K}$-Lorentzian polynomials can be difficult to understand algorithmically. We also show that, just as in the case of the nonnegative orthant, $\mathcal{K}$-Lorentzian and $\mathcal{K}$-completely log-concave polynomials coincide.

math.AG↗

arXiv2024

Convex Ternary Quartics Are SOS-Convex

We prove that convex ternary quartic forms are sum-of-squares-convex (sos-convex). This result is in a meaningful sense the ``convex analogue'' a celebrated theorem of Hilbert from 1888, where he proves that nonnegative ternary quartic forms are sums of squares. We show by an appropriate construction that exploiting the structure of the Hessian matrix is crucial in any possible proof of our result.

math.OC↗