We investigate the quantitative relationship between nonnegative polynomials and sums of squares of polynomials. We show that if the degree is fixed and the number of variables grows then there are significantly more nonnegative polynomials than sums of squares. More specifically, we take compact bases of the cone of nonnegative polynomials and the cone of sums of squares and derive bounds for the volumes of the bases. If the degree is greater than 2 then we show that the ratio of the volumes of the bases, raised to the power reciprocal to the ambient dimension, tends to 0 as the number of variables tends to infinity.
We study the quantitative relationship between the cones of nonnegative polynomials, cones of sums of squares and cones of sums of powers of linear forms. We derive bounds on the volumes (raised to the power reciprocal to the ambient dimension) of compact sections of the three cones. We show that the bounds are asymptotically exact if the degree is fixed and number of variables tends to infinity. When the degree is larger than two it follows that there are significantly more non-negative polynomials than sums of squares and there are significantly more sums of squares than sums of powers of li…
We study dimensions of the faces of the cone of nonnegative polynomials and the cone of sums of squares; we show that there are dimensional differences between corresponding faces of these cones. These dimensional gaps occur in all cases where there exist nonnegative polynomials that are not sums of squares. As either the degree or the number of variables grows the gaps become very large, asymptotically the gaps approach the full dimension of the vector space of polynomials in $n$ variables of degree 2d. The gaps occur generically, they are not a product of selecting special faces of the cones…
In the smallest cases where there exist nonnegative polynomials that are not sums of squares we present a complete explanation of this distinction. The fundamental reason that the cone of sums of squares is strictly contained in the cone of nonnegative polynomials is that polynomials of degree $d$ satisfy certain linear relations, known as the Cayley-Bacharach relations, which are not satisfied by polynomials of full degree 2d. For any nonnegative polynomial that is not a sum of squares we can write down a linear inequality coming from a Cayley-Bacharach relation that certifies this fact. We a…
These lecture notes provide an informal introduction to the theory of nonnegative polynomials and sums of squares. We highlight the history and some recent developments, especially the new connections with classical (complex) algebraic geometry and commutative algebra. We briefly discuss the connection to semidefinite programming and applications. We expect the reader to be familiar with algebra and fundamentals of algebraic geometry, on the level of a graduate course, and know basic facts about positive semidefinite matrices.
Ternary sextics and quaternary quartics are the smallest cases where there exist nonnegative polynomials that are not sums of squares (SOS). A complete classification of the difference between these cones was given by G. Blekherman via analyzing the extreme rays of the corresponding dual cones. However, an exact computational approach in order to build separating extreme rays for nonnegative polynomials that are not sums of squares is a widely open problem. We provide a method substantially simplifying this computation for certain classes of polynomials on the boundary of the PSD cones. In par…
We study symmetric nonnegative forms and their relationship with symmetric sums of squares. For a fixed number of variables $n$ and degree $2d$, symmetric nonnegative forms and symmetric sums of squares form closed, convex cones in the vector space of $n$-variate symmetric forms of degree $2d$. Using representation theory of the symmetric group we characterize both cones in a uniform way. Further, we investigate the asymptotic behavior when the degree $2d$ is fixed and the number of variables $n$ grows. Here, we show that, in sharp contrast to the general case, the difference between symmetric…
Circuit polynomials are a certificate of nonnegativity for real polynomials, which can be derived via a generalization of the classical inequality of arithmetic and geometric means. In this article, we show that similarly nonnegativity of symmetric real polynomials can be certified via a generalization of the classical Muirhead inequality. Moreover, we show that a nonnegative symmetric polynomial admits a decomposition into sums of nonnegative circuit polynomials if and only if it satisfies said generalized Muirhead condition. The latter re-proves a result by Moustrou, Naumann, Riener, Theobal…
For fixed degree and increasing number of variables the dimension of the vector space of $n$-variate real symmetric homogeneous polynomials (forms) of degree $d$ stabilizes. We study the limits of the cones of symmetric nonnegative polynomials and symmetric sums of squares, when expressed in power-mean or monomial-mean basis. These limits correspond to forms with stable expression in power-mean (or monomial-mean) polynomials that are globally nonnegative (resp. sums of squares) regardless of the number of variables. We introduce partial symmetry reduction to describe the limit cone of symmetri…
We study dimensions of the faces of the cone of nonnegative polynomials and the cone of sums of squares; we show that there are dimensional differences between corresponding faces of these cones. These dimensional gaps occur in all cases where there exist nonnegative polynomials that are not sums of squares. The gaps occur generically, they are not the product of selecting special faces of the cones. For ternary forms and quaternary quartics, we completely characterize when these differences are observed. Moreover, we provide an explicit description for these differences in the two smallest ca…
Recently, the second and the third author developed sums of nonnegative circuit polynomials (SONC) as a new certificate of nonnegativity for real polynomials, which is independent of sums of squares. In this article we show that the SONC cone is full-dimensional in the cone of nonnegative polynomials. We establish a Positivstellensatz which guarantees that every polynomial which is positive on a given compact, semi-algebraic set can be represented by the constraints of the set and SONC polynomials. Based on this Positivstellensatz we provide a hierarchy of lower bounds converging against the m…
An orbitope is the convex hull of an orbit of a point under the action of a compact group. We derive bounds on volumes of sections of polar bodies of orbitopes, extending our previously developed methods. As an application we realize the cone of convex forms as a section of the cone of nonnegative bi-homogeneous forms and estimate its volume. A convex form has to be nonnegative, but it has not been previously shown that there exist convex forms that are not sums of squares. Combining with the known bounds we show that if the degree is fixed then the cone of convex forms has asymptotically same…
We consider two seemingly unrelated questions: the relationship between nonnegative polynomials and sums of squares on real varieties, and sparse semidefinite programming. This connection is natural when a real variety $X$ is defined by a quadratic square-free monomial ideal. In this case nonnegative polynomials and sums of squares on $X$ are also natural objects in positive semidefinite matrix completion. Nonnegative quadratic forms over $X$ naturally correspond to partially specified matrices where all of the fully specified square blocks are PSD, and sums of squares quadratic forms naturall…
Various key problems from theoretical computer science can be expressed as polynomial optimization problems over the boolean hypercube. One particularly successful way to prove complexity bounds for these types of problems are based on sums of squares (SOS) as nonnegativity certificates. In this article, we initiate the analysis of optimization problems over the boolean hypercube via a recent, alternative certificate called sums of nonnegative circuit polynomials (SONC). We show that key results for SOS based certificates remain valid: First, for polynomials, which are nonnegative over the $n$…
We completely characterize sections of the cones of nonnegative polynomials, convex polynomials and sums of squares with polynomials supported on circuits, a genuine class of sparse polynomials. In particular, nonnegativity is characterized by an invariant, which can be immediately derived from the initial polynomial. Furthermore, nonnegativity of such polynomials $f$ coincides with solidness of the amoeba of $f$, i.e., the Log-absolute-value image of the algebraic variety $\mathcal{V}(f) \subset (\mathbb{C}^*)^n$ of $f$. These results generalize earlier works both in amoeba theory and real al…
Let X be a real nondegenerate projective subvariety such that its set of real points is Zariski dense. We prove that every real quadratic form that is nonnegative on X is a sum of squares of linear forms if and only if X is a variety of minimal degree. This substantially extends Hilbert's celebrated characterization of equality between nonnegative forms and sums of squares. We obtain a complete list for the cases of equality and also a classification of the lattice polytopes Q for which every nonnegative Laurent polynomial with support contained in 2Q is a sum of squares.
Hilbert's 17th problem asks that whether every nonnegative polynomial can be a sum of squares of rational functions. It has been answered affirmatively by Artin. However, the question as to whether a given nonnegative polynomial is a sum of squares of polynomials is still a central question in real algebraic geometry. In this paper, we solve this question completely for the nonnegative polynomials associated with isoparametric polynomials, initiated by E. Cartan, which define the focal submanifolds of the corresponding isoparametric hypersurfaces.
The relationship between nonnegative polynomials and sums of squares is one of the central questions in real algebraic geometry. A modern approach is to look at nonnegative polynomials and sums of squares on a real variety. We survey the rich history of this area and focus on recent developments highlighting unexpected links to complex algebraic geometry and commutative algebra.
We introduce positive Gorenstein ideals. These are Gorenstein ideals in the graded ring $\RR[x]$ with socle in degree 2d, which when viewed as a linear functional on $\RR[x]_{2d}$ is nonnegative on squares. Equivalently, positive Gorenstein ideals are apolar ideals of forms whose differential operator is nonnegative on squares. Positive Gorenstein ideals arise naturally in the context of nonnegative polynomials and sums of squares, and they provide a powerful framework for studying concrete aspects of sums of squares representations. We present applications of positive Gorenstein ideals in rea…
We study separable plus quadratic (SPQ) polynomials, i.e., polynomials that are the sum of univariate polynomials in different variables and a quadratic polynomial. Motivated by the fact that nonnegative separable and nonnegative quadratic polynomials are sums of squares, we study whether nonnegative SPQ polynomials are (i) the sum of a nonnegative separable and a nonnegative quadratic polynomial, and (ii) a sum of squares. We establish that the answer to question (i) is positive for univariate plus quadratic polynomials and for convex SPQ polynomials, but negative already for bivariate quarti…
We show that every real nonnegative polynomial $f$ can be approximated as closely as desired by a sequence of polynomials $\{f_ε\}$ that are sums of squares. Each $f_ε$ has a simple et explicit form in terms of $f$ and $ε$. A special representation is also obtained for convex polynomials, nonnegative on a convex semi-algebraic set.
We study metric properties of the cone of homogeneous non-negative multivariate polynomials and the cone of sums of powers of linear forms, and the relationship between the two cones. We compute the maximum volume ellipsoid of the natural base of the cone of non-negative polynomials and the minimum volume ellipsoid of the natural base of the cone of powers of linear forms and compute the coefficients of symmetry of the bases. The multiplication by (x_1^2 + ... + x_n^2)^m induces an isometric embedding of the space of polynomials of degree $2k$ into the space of polynomials of degree 2(k+m), wh…
To prove that a polynomial is nonnegative on R^n one can try to show that it is a sum of squares of polynomials (SOS). The latter problem is now known to be reducible to a semidefinite programming (SDP) computation much faster than classical algebraic methods, thus enabling new speed-ups in algebraic optimization. However, exactly how often nonnegative polynomials are in fact sums of squares of polynomials remains an open problem. Blekherman was recently able to show that for degree k polynomials in n variables -- with k>=4 fixed -- those that are SOS occupy a vanishingly small fraction of tho…
Here we present certificates for 5 classes of 6-edged multigraphs whose symmetrized graph monomials may be represented as sum of squares, but not as linear combinations of partition square graphs. This is a complement to the results presented in Discriminants, symmetrized graph monomials, and sums of squares.
In this paper, we consider whether existence of a sums-of-squares formula depends on the base field. We reformulate the question of existence as a question in algebraic geometry. We show that, for large enough p, existence of sums-of-squares formulas over algebraically closed fields is independent of the characteristic. We make the bound on p explicit, and we prove that the existence of a sums-of-squares formula of fixed type over an algebraically closed field is theoretically (though not practically) computable.
Hyperbolic polynomials are real polynomials whose real hypersurfaces are nested ovaloids, the inner most of which is convex. These polynomials appear in many areas of mathematics, including optimization, combinatorics and differential equations. Here we investigate the special connection between a hyperbolic polynomial and the set of polynomials that interlace it. This set of interlacers is a convex cone, which we write as a linear slice of the cone of nonnegative polynomials. In particular, this allows us to realize any hyperbolicity cone as a slice of the cone of nonnegative polynomials. Usi…
The concept of sums of nonnegative circuit polynomials (SONC) was recently introduced as a new certificate of nonnegativity especially for sparse polynomials. In this paper, we explore the relationship between nonnegative polynomials and SONC polynomials. As a first result, we provide sufficient conditions for nonnegative polynomials with general Newton polytopes to be SONC polynomials, which generalizes the previous result on nonnegative polynomials with simplex Newton polytopes. Secondly, we prove that every SONC polynomial admits a SONC decomposition without cancellation. In other words, SO…
Positive definite forms $f$ which are sums of squares are constructed to have the additional property that the members of any collection of forms whose squares sum to $f$ must share a nontrivial complex root.
In 2010, Marshall settled the strip conjecture, according to which every polynomial in $\mathbb{R}[x,y]$, nonnegative on the strip $[-1,1]\times\mathbb{R}$, is a sum of squares and of squares times $1-x^2$. We consider affine nonsingular curves $C$ over $\mathbb{R}$ with $C(\mathbb{R})$ compact, and study the question whether every $f$ in $\mathbb{R}[C][y]$, nonnegative on $C(\mathbb{R})\times\mathbb{R}$, is a sum of squares in $\mathbb{R}[C][y]$. We give an affirmative answer under the condition that $f$ has only finitely many zeros in $C(\mathbb{R})\times\mathbb{R}$. For $C$ the circle $x_1^…
Motivated by scheme theory, we introduce strong nonnegativity on real varieties, which has the property that a sum of squares is strongly nonnegative. We show that this algebraic property is equivalent to nonnegativity for nonsingular real varieties. Moreover, for singular varieties, we reprove and generalize obstructions of Gouveia and Netzer to the convergence of the theta body hierarchy of convex bodies approximating the convex hull of a real variety.
We show that the set of real polynomials in two variables that are sums of three squares of rational functions is dense in the set of those that are positive semidefinite. We also prove that the set of real surfaces in P^3 whose function field has level 2 is dense in the set of those that have no real points.
We associate to a real projective variety $X$ two convex cones which are fundamental in real algebraic geometry: the cone $P_X$ of quadratic forms nonnegative on $X$, and the cone $Σ_X$ of sums of squares of linear forms. The dual cone $Σ_X^\ast$ is a spectrahedron and we show that its convexity properties are closely related to homological properties of $X$. For instance, we show that all extreme rays of $Σ_X^\ast$ have rank one if and only if X has Castelnuovo-Mumford regularity two. More generally, if $Σ_X^\ast$ has an extreme ray of rank $p > 1$, then $X$ does not satisfy the property $N_{…
Let X be a finite set of points in R^n. A polynomial p nonnegative on X can be written as a sum of squares of rational functions modulo the vanishing ideal I(X). From the point of view of applications, such as polynomial optimization, we are interested in rational function representations of small degree. We derive a general upper bound in terms of the Hilbert function of X, and we show that this upper bound is tight for the case of quadratic functions on the hypercube C={0,1}^n, a very well studied case in combinatorial optimization. Using the lower bounds for C we construct a family of globa…
We construct families of explicit polynomials f with rational coefficients that are sums of squares of polynomials over the real numbers, but not over the rational numbers. Whether or not such examples exist was an open question originally raised by Sturmfels. We also study representations of f as sums of squares of rational functions with rational coefficients. In the case of ternary quartics, we prove that our counterexamples to Sturmfels' question are the only ones.
In this article we combine two developments in polynomial optimization. On the one hand, we consider nonnegativity certificates based on sums of nonnegative circuit polynomials, which were recently introduced by the second and the third author. On the other hand, we investigate geometric programming methods for constrained polynomial optimization problems, which were recently developed by Ghasemi and Marshall. We show that the combination of both results yields a new method to solve certain classes of constrained polynomial optimization problems. We test the new method experimentally and compa…
In this work we study the problem of writing a Hermitian polynomial as a Hermitian sum of squares modulo a Hermitian ideal. We investigate a novel idea of Putinar-Scheiderer to obtain necessary matrix positivity conditions for Hermitian polynomials to be Hermitian sums of squares modulo Hermitian ideals. We show that the conditions are sufficient for a class of examples making a connection to the operator-valued Riesz-Fejer theorem and block Toeplitz forms. The work fits into the larger themes of Hermitian versions of Hilbert's 17-th problem and characterizations of positivity.
