arXiv subjects

Ke Ye

Publications and source records attributed to Ke Ye.

At least 37 records · Page 2Linked to original sources

arXiv2025

Upper Bounds for $s$-Distance Subspaces

As a generalization of equiangular lines, equiangular subspaces were first systematically studied by Balla, Dräxler, Keevash and Sudakov in 2017. In this paper, we extend their work to $s$-distance subspaces, i.e., to sets of $k$-dimensional subspaces in $\mathbb{R}^n$ whose pairwise distances take $s$ distinct values. We establish upper bounds on the maximum cardinality of such sets. In particular, our bounds generalize and improve results of Balla and Sudakov.

math.MG↗

arXiv2025

Isotropy and completeness indices of multilinear maps

Structures of multilinear maps are characterized by invariants. In this paper we introduce two invariants, named the isotropy index and the completeness index. These invariants capture the tensorial structure of the kernel of a multilinear map. We establish bounds on both indices in terms of the partition rank, geometric rank, analytic rank and height, and present three applications: 1) Using the completeness index as an interpolator, we establish upper bounds on the aforementioned tensor ranks in terms of the subrank. This settles an open problem raised by Kopparty, Moshkovitz and Zuiddam, and consequently answers a question of Derksen, Makam and Zuiddam. 2) We prove a Ramsey-type theorem for the two indices, generalizing a recent result of Qiao and confirming a conjecture of his. 3) By computing the completeness index, we obtain a polynomial-time probabilistic algorithm to estimate the height of a polynomial ideal.

math.CO↗

arXiv2025

From Watch to Imagine: Steering Long-horizon Manipulation via Human Demonstration and Future Envisionment

Generalizing to long-horizon manipulation tasks in a zero-shot setting remains a central challenge in robotics. Current multimodal foundation based approaches, despite their capabilities, typically fail to decompose high-level commands into executable action sequences from static visual input alone. To address this challenge, we introduce Super-Mimic, a hierarchical framework that enables zero-shot robotic imitation by directly inferring procedural intent from unscripted human demonstration videos. Our framework is composed of two sequential modules. First, a Human Intent Translator (HIT) parses the input video using multimodal reasoning to produce a sequence of language-grounded subtasks. These subtasks then condition a Future Dynamics Predictor (FDP), which employs a generative model that synthesizes a physically plausible video rollout for each step. The resulting visual trajectories are dynamics-aware, explicitly modeling crucial object interactions and contact points to guide the low-level controller. We validate this approach through extensive experiments on a suite of long-horizon manipulation tasks, where Super-Mimic significantly outperforms state-of-the-art zero-shot methods by over 20%. These results establish that coupling video-driven intent parsing with prospective dynamics modeling is a highly effective strategy for developing general-purpose robotic systems.

cs.RO↗

arXiv2025

Exploring the Limits of Vision-Language-Action Manipulations in Cross-task Generalization

The generalization capabilities of vision-language-action (VLA) models to unseen tasks are crucial to achieving general-purpose robotic manipulation in open-world settings. However, the cross-task generalization capabilities of existing VLA models remain significantly underexplored. To address this gap, we introduce AGNOSTOS, a novel simulation benchmark designed to rigorously evaluate cross-task zero-shot generalization in manipulation. AGNOSTOS comprises 23 unseen manipulation tasks for testing, distinct from common training task distributions, and incorporates two levels of generalization difficulty to assess robustness. Our systematic evaluation reveals that current VLA models, despite being trained on diverse datasets, struggle to generalize effectively to these unseen tasks. To overcome this limitation, we propose Cross-Task In-Context Manipulation (X-ICM), a method that conditions large language models (LLMs) on in-context demonstrations from seen tasks to predict action sequences for unseen tasks. Additionally, we introduce a dynamics-guided sample selection strategy that identifies relevant demonstrations by capturing cross-task dynamics. On AGNOSTOS, X-ICM significantly improves cross-task zero-shot generalization performance over leading VLAs. We believe AGNOSTOS and X-ICM will serve as valuable tools for advancing general-purpose robotic manipulation.

cs.RO↗

arXiv2025

Degree of the Grassmannian as an affine variety

The degree of the Grassmannian with respect to the Plücker embedding is well-known. However, the Plücker embedding, while ubiquitous in pure mathematics, is almost never used in applied mathematics. In applied mathematics, the Grassmannian is usually embedded as projection matrices $\operatorname{Gr}(k,\mathbb{R}^n) \cong \{P \in \mathbb{R}^{n \times n} : P^{\scriptscriptstyle\mathsf{T}} = P = P^2,\; \operatorname{tr}(P) = k\}$ or as involution matrices $\operatorname{Gr}(k,\mathbb{R}^n) \cong \{X \in \mathbb{R}^{n \times n} : X^{\scriptscriptstyle\mathsf{T}} = X,\; X^2 = I,\; \operatorname{tr}(X)=2k - n\}$. We will determine an explicit expression for the degree of the Grassmannian with respect to these embeddings. In so doing, we resolved a conjecture of Devriendt, Friedman, Reinke, and Sturmfels about the degree of $\operatorname{Gr}(2, \mathbb{R}^n)$ and in fact generalized it to $\operatorname{Gr}(k, \mathbb{R}^n)$. We also proved a set theoretic variant of another conjecture of theirs about the limit of $\operatorname{Gr}(k,\mathbb{R}^n)$ in the sense of Gröbner degneration.

math.AG↗

arXiv2025

Simple matrix expressions for the curvatures of Grassmannian

We show that modeling a Grassmannian as symmetric orthogonal matrices $\operatorname{Gr}(k,\mathbb{R}^n) \cong\{Q \in \mathbb{R}^{n \times n} : Q^{\scriptscriptstyle\mathsf{T}} Q = I, \; Q^{\scriptscriptstyle\mathsf{T}} = Q,\; \operatorname{tr}(Q)=2k - n\}$ yields exceedingly simple matrix formulas for various curvatures and curvature-related quantities, both intrinsic and extrinsic. These include Riemann, Ricci, Jacobi, sectional, scalar, mean, principal, and Gaussian curvatures; Schouten, Weyl, Cotton, Bach, Plebański, cocurvature, nonmetricity, and torsion tensors; first, second, and third fundamental forms; Gauss and Weingarten maps; and upper and lower delta invariants. We will derive explicit, simple expressions for the aforementioned quantities in terms of standard matrix operations that are stably computable with numerical linear algebra. Many of these aforementioned quantities have never before been presented for the Grassmannian.

math.DG↗

arXiv2025

Can External Validation Tools Improve Annotation Quality for LLM-as-a-Judge?

Pairwise preferences over model responses are widely collected to evaluate and provide feedback to large language models (LLMs). Given two alternative model responses to the same input, a human or AI annotator selects the "better" response. This approach can provide feedback for domains where other hard-coded metrics are difficult to obtain (e.g., chat response quality), thereby helping model evaluation or training. However, for some domains high-quality pairwise comparisons can be tricky to obtain - from AI and humans. For example, for responses with many factual statements, annotators may disproportionately weigh writing quality rather than underlying facts. In this work, we explore augmenting standard AI annotator systems with additional tools to improve performance on three challenging response domains: long-form factual, math and code tasks. We propose a tool-using agentic system to provide higher quality feedback on these domains. Our system uses web-search and code execution to ground itself based on external validation, independent of the LLM's internal knowledge and biases. We provide extensive experimental results evaluating our method across the three targeted response domains as well as general annotation tasks, using RewardBench (incl. AlpacaEval and LLMBar), RewardMath, as well as three new datasets for domains with saturated pre-existing datasets. Our results indicate that external tools can indeed improve performance in many, but not all, cases. More generally, our experiments highlight the sensitivity of performance to simple parameters (e.g., prompt) and the need for improved (non-saturated) annotator benchmarks. We share our code at https://github.com/apple/ml-agent-evaluator.

cs.CL↗

arXiv2025

The Cayley Transform on Representations

The classical Cayley transform is a birational map between a quadratic matrix group and its Lie algebra, which was first discovered by Cayley in 1846. Because of its essential role in both pure and applied mathematics, the classical Cayley transform has been generalized from various perspectives. This paper is concerned with a representation theoretic generalization of the classical Cayley transform. The idea underlying this work is that the applicability of the classical Cayley transform heavily depends on how the Lie group is represented. The goal is to characterize irreducible representations of a Lie group, to which the classical Cayley transform is applicable. To this end, we first establish criteria of the applicability for a general Lie group. If the group is semisimple, we further obtain a geometric condition on the weight diagram of such representations. Lastly, we provide a complete classification for classical complex simple Lie groups and their compact real forms. Except for the previously known examples, spin representations of $\mathrm{Spin}(8)$ are the only ones on our list.

math.RT↗

arXiv2025

Bounds for Geometric rank in Terms of Subrank

For tensors of fixed order, we establish three types of upper bounds for the geometric rank in terms of the subrank. Firstly, we prove that, under a mild condition on the characteristic of the base field, the geometric rank of a tensor is bounded by a function in its subrank in some field extension of bounded degree. Secondly, we show that, over any algebraically closed field, the geometric rank of a tensor is bounded by a function in its subrank. Lastly, we prove that, for any order three tensor over an arbitrary field, its geometric rank is bounded by a quadratic polynomial in its subrank. Our results have several immediate but interesting implications: (1) We answer an open question posed by Kopparty, Moshkovitz and Zuiddam concerning the relation between the subrank and the geometric rank; (2) For order three tensors, we generalize the Biaggi-Chang- Draisma-Rupniewski (resp. Derksen-Makam-Zuiddam) theorem on the growth rate of the border subrank (resp. subrank), in an optimal way; (3) For order three tensors, we generalize the Biaggi- Draisma-Eggleston theorem on the stability of the subrank, from the real field to an arbitrary field; (4) We confirm the open problem raised by Derksen, Makam and Zuiddam on the maximality of the gap between the subrank of the direct sum and the sum of subranks; (5) We derive, for the first time, a de-bordering result for the border subrank and upper bounds for the partition rank and analytic rank in terms of the subrank; (6) We reprove a gap result for the subrank.

math.CO↗

arXiv2025

Commutative algebra-enhanced topological data analysis

Topological Data Analysis (TDA) combines computational topology and data science to extract and analyze intrinsic topological and geometric structures in data set in a metric space. While the persistent homology (PH), a widely used tool in TDA, which tracks the lifespan information of topological features through a filtration process, has shown its effectiveness in applications,it is inherently limited in homotopy invariants and overlooks finer geometric and combinatorial details. To bridge this gap, we introduce two novel commutative algebra-based frameworks which extend beyond homology by incorporating tools from computational commutative algebra : (1) \emph{the persistent ideals} derived from the decomposition of algebraic objects associated to simplicial complexes, like those in theory of edge ideals and Stanley--Reisner ideals, which will provide new commutative algebra-based barcodes and offer a richer characterization of topological and geometric structures in filtrations.(2)\emph{persistent chain complex of free modules} associated with traditional persistent simplicial complex by labelling each chain in the chain complex of the persistent simplicial complex with elements in a commutative ring, which will enable us to detect local information of the topology via some pure algebraic operations. \emph{Crucially, both of the two newly-established framework can recover topological information got from conventional PH and will give us more information.} Therefore, they provide new insights in computational topology, computational algebra and data science.

cs.CG↗

arXiv2025

Generic linear convergence for algorithms of non-linear least squares over smooth varieties

In applications, a substantial number of problems can be formulated as non-linear least squares problems over smooth varieties. Unlike the usual least squares problem over a Euclidean space, the non-linear least squares problem over a variety can be challenging to solve and analyze, even if the variety itself is simple. Geometrically, this problem is equivalent to projecting a point in the ambient Euclidean space onto the image of the given variety under a non-linear map. It is the singularities of the image that make both the computation and the analysis difficult. In this paper, we prove that under some mild assumptions, these troublesome singularities can always be avoided. This enables us to establish a linear convergence rate for iterative sequences generated by algorithms satisfying some standard assumptions. We apply our general results to the low-rank partially orthogonal tensor approximation problem. As a consequence, we obtain the linear convergence rate for a classical APD-ALS method applied to a generic tensor, without any further assumptions.

math.OC↗

arXiv2025

An estimate for positive definite functions on finite abelian groups and its applications

This paper concentrates on positive definite functions on finite abelian groups, which are central to harmonic analysis and related fields. By leveraging the group structure and employing Fourier analysis, we establish a lower bound for the second largest value of positive definite functions. For illustrative purposes, we present three applications of our lower bound: (a) We obtain both lower and upper bounds for arbitrary functions on finite abelian groups; (b) We derive lower bounds for the relaxation and mixing times of random walks on finite abelian groups. Notably, our bound for the relaxation time achieves a quadratic improvement over the previously known one; (c) We determine a new lower bound for the size of the sumset of two subsets of finite abelian groups.

math.FA↗

arXiv2025

Euclidean distance degree in manifold optimization

We determine the Euclidean distance degrees of the three most common manifolds arising in manifold optimization: flag, Grassmann, and Stiefel manifolds. For the Grassmannian, we will also determine the Euclidean distance degree of an important class of Schubert varieties that often appear in applications. Our technique goes further than furnishing the value of the Euclidean distance degree; it will also yield closed-form expressions for all stationary points of the Euclidean distance function in each instance. We will discuss the implications of these results on the tractability of manifold optimization problems.

math.OC↗

arXiv2024

EGP3D: Edge-guided Geometric Preserving 3D Point Cloud Super-resolution for RGB-D camera

Point clouds or depth images captured by current RGB-D cameras often suffer from low resolution, rendering them insufficient for applications such as 3D reconstruction and robots. Existing point cloud super-resolution (PCSR) methods are either constrained by geometric artifacts or lack attention to edge details. To address these issues, we propose an edge-guided geometric-preserving 3D point cloud super-resolution (EGP3D) method tailored for RGB-D cameras. Our approach innovatively optimizes the point cloud with an edge constraint on a projected 2D space, thereby ensuring high-quality edge preservation in the 3D PCSR task. To tackle geometric optimization challenges in super-resolution point clouds, particularly preserving edge shapes and smoothness, we introduce a multi-faceted loss function that simultaneously optimizes the Chamfer distance, Hausdorff distance, and gradient smoothness. Existing datasets used for point cloud upsampling are predominantly synthetic and inadequately represent real-world scenarios, neglecting noise and stray light effects. To address the scarcity of realistic RGB-D data for PCSR tasks, we built a dataset that captures real-world noise and stray-light effects, offering a more accurate representation of authentic environments. Validated through simulations and real-world experiments, the proposed method exhibited superior performance in preserving edge clarity and geometric details.

cs.CV↗

arXiv2024

Grassmannian optimization is NP-hard

We show that unconstrained quadratic optimization over a Grassmannian $\operatorname{Gr}(k,n)$ is NP-hard. Our results cover all scenarios: (i) when $k$ and $n$ are both allowed to grow; (ii) when $k$ is arbitrary but fixed; (iii) when $k$ is fixed at its lowest possible value $1$. We then deduce the NP-hardness of unconstrained cubic optimization over the Stiefel manifold $\operatorname{V}(k,n)$ and the orthogonal group $\operatorname{O}(n)$. As an addendum we demonstrate the NP-hardness of unconstrained quadratic optimization over the Cartan manifold, i.e., the positive definite cone $\mathbb{S}^n_{\scriptscriptstyle++}$ regarded as a Riemannian manifold, another popular example in manifold optimization. We will also establish the nonexistence of $\mathrm{FPTAS}$ in all cases.

math.OC↗

arXiv2024

I2EBench: A Comprehensive Benchmark for Instruction-based Image Editing

Significant progress has been made in the field of Instruction-based Image Editing (IIE). However, evaluating these models poses a significant challenge. A crucial requirement in this field is the establishment of a comprehensive evaluation benchmark for accurately assessing editing results and providing valuable insights for its further development. In response to this need, we propose I2EBench, a comprehensive benchmark designed to automatically evaluate the quality of edited images produced by IIE models from multiple dimensions. I2EBench consists of 2,000+ images for editing, along with 4,000+ corresponding original and diverse instructions. It offers three distinctive characteristics: 1) Comprehensive Evaluation Dimensions: I2EBench comprises 16 evaluation dimensions that cover both high-level and low-level aspects, providing a comprehensive assessment of each IIE model. 2) Human Perception Alignment: To ensure the alignment of our benchmark with human perception, we conducted an extensive user study for each evaluation dimension. 3) Valuable Research Insights: By analyzing the advantages and disadvantages of existing IIE models across the 16 dimensions, we offer valuable research insights to guide future development in the field. We will open-source I2EBench, including all instructions, input images, human annotations, edited images from all evaluated methods, and a simple script for evaluating the results from new IIE models. The code, dataset and generated images from all IIE models are provided in github: https://github.com/cocoshe/I2EBench.

cs.CV↗

arXiv2024

The sparseness of g-convex functions

The g-convexity of functions on manifolds is a generalization of the convexity of functions on Rn. It plays an essential role in both differential geometry and non-convex optimization theory. This paper is concerned with g-convex smooth functions on manifolds. We establish criteria for the existence of a Riemannian metric (or connection) with respect to which a given function is g-convex. Using these criteria, we obtain three sparseness results for g-convex functions: (1) The set of g-convex functions on a compact manifold is nowhere dense in the space of smooth functions. (2) Most polynomials on Rn that is g-convex with respect to some geodesically complete connection has at most one critical point. (3) The density of g-convex univariate (resp. quadratic, monomial, additively separable) polynomials asymptotically decreases to zero

math.DG↗

arXiv2024

Rational Curves on Real Classical Groups

This paper is concerned with rational curves on real classical groups. Our contributions are three-fold: (i) We determine the structure of quadratic rational curves on real classical groups. As a consequence, we completely classify quadratic rational curves on $\mathrm{U}_n$, $\mathrm{O}_n(\mathbb{R})$, $\mathrm{O}_{n-1,1}(\mathbb{R})$ and $\mathrm{O}_{n-2,2}(\mathbb{R})$. (ii) We prove a decomposition theorem for rational curves on real classical groups, which can be regarded as a non-commutative generalization of the fundamental theorem of algebra and partial fraction decomposition. (iii) As an application of (i) and (ii), we generalize Kempe's Universality Theorem to rational curves on homogeneous spaces.

math.AG↗