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Robot programming tools ranging from inverse kinematics (IK) to model predictive control (MPC) are most often described as constrained optimization problems. Even though there are currently many commercially-available second-order solvers,…
A non-overlapping domain decomposition algorithm is proposed to solve the linear system arising from mixed finite element approximation of incompressible Stokes equations. A continuous finite element space for the pressure is used. In the…
We present a full operator approach to treatment of the cross-Kerr interaction combined with parametric amplification. It is shown that this problem can be exactly integrated using the method of higher-order operators. While the initial…
We design inexact proximal augmented Lagrangian based decomposition methods for convex composite programming problems with dual block-angular structures. Our methods are particularly well suited for convex quadratic programming problems…
Simulation of frictional contact and shear failure of fractures in fractured media is of paramount important in computational mechanics. In this work, a preconditioned mixed-finite element (FE) scheme with Lagrange multipliers is proposed…
Constructing fast samplers for unconditional diffusion and flow-matching models has received much attention recently; however, existing methods for solving inverse problems, such as super-resolution, inpainting, or deblurring, still require…
We address the problem of preconditioning a sequence of saddle point linear systems arising in the solution of PDE-constrained optimal control problems via active-set Newton methods, with control and (regularized) state constraints. We…
Given the single-letter capacity formula and the converse proof of a channel without constraints, we provide a simple approach to extend the results for the same channel but with constraints. The resulting capacity formula is the minimum of…
We consider a primal-dual algorithm for minimizing $f(x)+h\square l(Ax)$ with Fr\'echet differentiable $f$ and $l^*$. This primal-dual algorithm has two names in literature: Primal-Dual Fixed-Point algorithm based on the Proximity Operator…
We propose an efficient algorithm for sparse signal reconstruction problems. The proposed algorithm is an augmented Lagrangian method based on the dual sparse reconstruction problem. It is efficient when the number of unknown variables is…
We develop a new inexact interior-point Lagrangian decomposition method to solve a wide range class of constrained composite convex optimization problems. Our method relies on four techniques: Lagrangian dual decomposition, self-concordant…
We consider a Runge--Kutta method for the numerical time integration of the nonstationary incompressible Navier--Stokes equations. This yields a sequence of nonlinear problems to be solved for the stages of the Runge--Kutta method. The…
In this paper, we aim to accelerate a preconditioned alternating direction method of multipliers (pADMM), whose proximal terms are convex quadratic functions, for solving linearly constrained convex optimization problems. To achieve this,…
We introduce Power Bundle Adjustment as an expansion type algorithm for solving large-scale bundle adjustment problems. It is based on the power series expansion of the inverse Schur complement and constitutes a new family of solvers that…
In this research, to solve the large indefinite least squares problem, we firstly transform its normal equation into a sparse block three-by-three linear systems, then use GMRES method with an accelerated preconditioner to solve it. The…
In this article, we study the convergence of algorithms for solving monotone inclusions in the presence of adjoint mismatch. The adjoint mismatch arises when the adjoint of a linear operator is replaced by an approximation, due to…
We present a fast and feature-complete differentiable physics engine, Nimble (nimblephysics.org), that supports Lagrangian dynamics and hard contact constraints for articulated rigid body simulation. Our differentiable physics engine offers…
Systems subjected to holonomic constraints follow quite complicated dynamics that could not be described easily with Hamiltonian or Lagrangian dynamics. The influence of holonomic constraints in equations of motions is taken into account by…
This article investigates the convergence properties of a relative-type inexact preconditioned proximal augmented Lagrangian method (rip$^2$ALM) for convex nonlinear programming, a fundamental class of optimization problems with broad…
We develop two new variants of alternating direction methods of multipliers (ADMM) and two parallel primal-dual decomposition algorithms to solve a wide range class of constrained convex optimization problems. Our approach relies on a novel…