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Our procedure generates invariants of the form of a convex polynomial inequality that tightly bounds the values of loop variables. Such invariants are a prerequisite for reasoning about the safety and roundoff errors of floating-point programs. Unlike previous approaches that rely on policy iteration, linear algebra or semi-definite programming, we propose a heuristic procedure based on simulation and counterexample-guided refinement. We observe that this combination is remarkably effective and general and can handle both linear and nonlinear loop bodies, nondeterministic values as well as conditional statements. 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