This paper presents a topology-inspired morphological descriptor for soft continuum robots by combining a pseudo-rigid-body (PRB) model with Morse theory to achieve a quantitative characterization of robot morphologies. By counting critical points of directional projections, the proposed descriptor enables a discrete representation of multimodal configurations and facilitates morphological classification. Furthermore, we apply the descriptor to morphology control by formulating the target configuration as an optimization problem to compute actuation parameters that generate equilibrium shapes with desired topological features. The proposed framework provides a unified methodology for quantitative morphology description, classification, and control of soft continuum robots, with the potential to enhance their precision and adaptability in medical applications such as minimally invasive surgery and endovascular interventions.

We introduce a new ligand-based virtual screening (LBVS) framework that uses piecewise linear (PL) Morse theory to predict ligand binding potential. We model ligands as simplicial complexes via a pruned Delaunay triangulation, and catalogue the critical points across multiple directional height functions. This produces a rich feature vector, consisting of crucial topological features -- peaks, troughs, and saddles -- that characterise ligand surfaces relevant to binding interactions. Unlike contemporary LBVS methods that rely on computationally-intensive deep neural networks, we require only a lightweight classifier. The Morse theoretic approach achieves state-of-the-art performance on standard datasets while offering an interpretable feature vector and scalable method for ligand prioritization in early-stage drug discovery.

One common function class in machine learning is the class of ReLU neural networks. ReLU neural networks induce a piecewise linear decomposition of their input space called the canonical polyhedral complex. It has previously been established that it is decidable whether a ReLU neural network is piecewise linear Morse. In order to expand computational tools for analyzing the topological properties of ReLU neural networks, and to harness the strengths of discrete Morse theory, we introduce a schematic for translating between a given piecewise linear Morse function (e.g. parameters of a ReLU neural network) on a canonical polyhedral complex and a compatible (``relatively perfect") discrete Morse function on the same complex. Our approach is constructive, producing an algorithm that can be used to determine if a given vertex in a canonical polyhedral complex corresponds to a piecewise linear Morse critical point. Furthermore we provide an algorithm for constructing a consistent discrete Morse pairing on cells in the canonical polyhedral complex which contain this vertex. We additionally provide some new realizability results with respect to sublevel set topology in the case of shallow ReLU neural networks.

In computer vision, keypoint detection is a fundamental task, with applications spanning from Ideally, a good feature detector should provide keypoints robotics to image retrieval; however, existing with the following desirable properties: high repeatability learning-based methods suffer from scale dependency, (i.e., consistent across image pairs) and scale-invariance, and lack flexibility. This paper introduces while being robust to noise and distortion (Ghahremani et al., a novel approach that leverages Morse theory and 2020; Revaud et al., 2019; Lowe, 2004). Scale-Space theory persistent homology, powerful tools rooted in algebraic (Lindeberg, 1994) provides a formulation of the concept topology. We propose a novel loss function of keypoint that guarantees the properties mentioned above based on the recent introduction of a notion (Lindeberg, 1994; Lowe, 2004; Ghahremani et al., 2020), of subgradient in persistent homology, paving the and it operates by building a scale-space feature pyramid way toward topological learning. Our detector, from the image, in which keypoints are detected as local MorseDet, is the first topology-based learning extrema. Many classical handcrafted detectors exploit this model for feature detection, which achieves competitive theoretical framework (Mikolajczyk & Schmid, 2004; Bay performance in keypoint repeatability and et al., 2006), the most popular of which is SIFT (Lowe, introduces a principled and theoretically robust 2004).

Motion path planning is an intrinsically geometric problem which is central for design of robot systems. Since the early years of AI, robotics together with computer vision have been the areas of computer science that drove its development. Many questions that arise, such as existence, optimality, and diversity of motion paths in the configuration space that describes feasible robot configurations, are of topological nature. The recent advances in topological data analysis and related metric geometry, topology and combinatorics have provided new tools to address these engineering tasks. We will survey some questions, issues, recent work and promising directions in data-driven geometric and topological methods with some emphasis on the use of discrete Morse theory.

This study aims to alleviate the trade-off between utility and privacy in the task of differentially private clustering. Existing works focus on simple clustering methods, which show poor clustering performance for non-convex clusters. By utilizing Morse theory, we hierarchically connect the Gaussian sub-clusters to fit complex cluster distributions. Because differentially private sub-clusters are obtained through the existing methods, the proposed method causes little or no additional privacy loss. We provide a theoretical background that implies that the proposed method is inductive and can achieve any desired number of clusters. Experiments on various datasets show that our framework achieves better clustering performance at the same privacy level, compared to the existing methods.

Kleinberg introduced three natural clustering properties, or axioms, and showed they cannot be simultaneously satisfied by any clustering algorithm. We present a new clustering property, Monotonic Consistency, which avoids the well-known problematic behaviour of Kleinberg's Consistency axiom, and the impossibility result. Namely, we describe a clustering algorithm, Morse Clustering, inspired by Morse Theory in Differential Topology, which satisfies Kleinberg's original axioms with Consistency replaced by Monotonic Consistency. Morse clustering uncovers the underlying flow structure on a set or graph and returns a partition into trees representing basins of attraction of critical vertices. We also generalise Kleinberg's axiomatic approach to sparse graphs, showing an impossibility result for Consistency, and a possibility result for Monotonic Consistency and Morse clustering.

Despite its popularity, it is widely recognized that the investigation of some theoretical aspects of clustering has been relatively sparse. One of the main reasons for this lack of theoretical results is surely the fact that, whereas for other statistical problems the theoretical population goal is clearly defined (as in regression or classification), for some of the clustering methodologies it is difficult to specify the population goal to which the data-based clustering algorithms should try to get close. This paper aims to provide some insight into the theoretical foundations of clustering by focusing on two main objectives: to provide an explicit formulation for the ideal population goal of the modal clustering methodology, which understands clusters as regions of high density; and to present two new loss functions, applicable in fact to any clustering methodology, to evaluate the performance of a data-based clustering algorithm with respect to the ideal population goal. In particular, it is shown that only mild conditions on a sequence of density estimators are needed to ensure that the sequence of modal clusterings that they induce is consistent.

The problem of finding groups in data (cluster analysis) has been extensively studied by researchers from the fields of Statistics and Computer Science, among others. However, despite its popularity it is widely recognized that the investigation of some theoretical aspects of clustering has been relatively sparse. One of the main reasons for this lack of theoretical results is surely the fact that, unlike the situation with other statistical problems as regression or classification, for some of the cluster methodologies it is quite difficult to specify a population goal to which the data-based clustering algorithms should try to get close. This paper aims to provide some insight into the theoretical foundations of the usual nonparametric approach to clustering, which understands clusters as regions of high density, by presenting an explicit formulation for the ideal population clustering.