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Learning-based control methods are an attractive approach for addressing performance and efficiency challenges in robotics and automation systems. One such technique that has found application in these domains is learning-based model…
We consider multistage stochastic optimization problems involving multiple units. Each unit is a (small) control system. Static constraints couple units at each stage. We present a mix of spatial and temporal decompositions to tackle such…
The efficient approximation of quantity of interest derived from PDEs with lognormal diffusivity is a central challenge in uncertainty quantification. In this study, we propose a multilevel quasi-Monte Carlo framework to approximate…
Bilevel Optimization has experienced significant advancements recently with the introduction of new efficient algorithms. Mirroring the success in single-level optimization, stochastic gradient-based algorithms are widely used in bilevel…
Deep learning based decoding networks have shown significant improvement in decoding LDPC codes, but the neural decoders are limited by rate-matching operations such as puncturing or extending, thus needing to train multiple decoders with…
We propose an extended variant of the reformulation and decomposition algorithm for solving a special class of mixed-integer bilevel linear programs (MIBLPs) where continuous and integer variables are involved in both upper- and lower-level…
This paper explores how to adapt a new dynamical core to enable its use in one-way nested regional weather and climate models, where lateral boundary conditions (LBCs) are provided by a lower-resolution driving model. The dynamical core has…
Parallel batch processing machines have extensive applications in the semiconductor manufacturing process. However, the problem models in previous studies regard parallel batch processing as a fixed processing stage in the machining…
A key motivation in the development of Distributed Model Predictive Control (DMPC) is to accelerate centralized Model Predictive Control (MPC) for large-scale systems. DMPC has the prospect of scaling well by parallelizing computations…
In this paper, we examine a number of additive and multiplicative multilevel iterative methods and preconditioners in the setting of two-dimensional local mesh refinement. While standard multilevel methods are effective for uniform…
While linear programming (LP) decoding provides more flexibility for finite-length performance analysis than iterative message-passing (IMP) decoding, it is computationally more complex to implement in its original form, due to both the…
Multi-stage stochastic programming is a well-established framework for sequential decision making under uncertainty by seeking policies that are fully adapted to the uncertainty. Often such flexible policies are not desirable, and the…
This paper develops a new deep neural network optimized equalization framework for massive multiple input multiple output orthogonal frequency division multiplexing (MIMOOFDM) systems that employ low-resolution analog-to-digital converters…
This paper proposes a form of MPC in which the control variables are moved asynchronously. This contrasts with most MIMO control schemes, which assume that all variables are updated simultaneously. MPC outperforms other control strategies…
The generation speed of LLMs are bottlenecked by autoregressive decoding, where tokens are predicted sequentially one by one. Alternatively, diffusion large language models (dLLMs) theoretically allow for parallel token generation, but in…
In this paper, we consider a class of constrained multiobjective optimization problems, where each objective function can be expressed by adding a possibly nonsmooth nonconvex function and a differentiable function with Lipschitz continuous…
This paper proposes a new steepest gradient descent method for solving nonconvex finite minimax problems using non-monotone adaptive step sizes and providing proof of convergence results in cases of the nonconvex, quasiconvex, and…
This report outlines our team's participation in VCL Challenges B Continual Test_time Adaptation, focusing on the technical details of our approach. Our primary focus is Testtime Adaptation using bi_level adaptations, encompassing…
There are many challenges in bimanual assembly, including high-level sequencing, multi-robot coordination, and low-level, contact-rich operations such as component mating. Task and motion planning (TAMP) methods, while effective in this…
In this paper, we propose two novel decentralized optimization frameworks for multi-agent nonlinear optimal control problems in robotics. The aim of this work is to suggest architectures that inherit the computational efficiency and…