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Large-scale non-convex sparsity-constrained problems have recently gained extensive attention. Most existing deterministic optimization methods (e.g., GraSP) are not suitable for large-scale and high-dimensional problems, and thus…
Most of the existing clustering methods are based on a single granularity of information, such as the distance and density of each data. This most fine-grained based approach is usually inefficient and susceptible to noise. Therefore, we…
In this paper, we study the form over the minimum spanning tree problem (MST) from which we will derive an intuitively generalized model and new methods with the upper bound of runtimes of logarithm. The new pattern we made has taken…
Consider convex optimization problems subject to a large number of constraints. We focus on stochastic problems in which the objective takes the form of expected values and the feasible set is the intersection of a large number of convex…
In both industrial and service domains, a central benefit of the use of robots is their ability to quickly and reliably execute repetitive tasks. However, even relatively simple peg-in-hole tasks are typically subject to stochastic…
Training deep neural network is a high dimensional and a highly non-convex optimization problem. Stochastic gradient descent (SGD) algorithm and it's variations are the current state-of-the-art solvers for this task. However, due to…
To move through the world, mobile robots typically use a receding-horizon strategy, wherein they execute an old plan while computing a new plan to incorporate new sensor information. A plan should be dynamically feasible, meaning it obeys…
Optimal transport is a fundamental topic that has attracted a great amount of attention from the optimization community in the past decades. In this paper, we consider an interesting discrete dynamic optimal transport problem: can we…
A stochastic second-order trust region method is proposed, which can be viewed as a second-order extension of the trust-region-ish (TRish) algorithm proposed by Curtis et al. (INFORMS J. Optim. 1(3) 200-220, 2019). In each iteration, a…
Noisy observations coupled with nonlinear dynamics pose one of the biggest challenges in robot motion planning. By decomposing nonlinear dynamics into a discrete set of local dynamics models, hybrid dynamics provide a natural way to model…
Due to their efficiency and small size, decision trees and random forests are popular machine learning models used for classification on resource-constrained systems. In such systems, the available execution time for inference in a random…
Hybrid locomotion, which combines multiple modalities of locomotion within a single robot, enables robots to carry out complex tasks in diverse environments. This paper presents a novel method for planning multi-modal locomotion…
This paper focuses on the contextual optimization problem where a decision is subject to some uncertain parameters and covariates that have some predictive power on those parameters are available before the decision is made. More…
This paper presents preliminary work on learning the search heuristic for the optimal motion planning for automated driving in urban traffic. Previous work considered search-based optimal motion planning framework (SBOMP) that utilized…
We present a new Monte Carlo Tree Search (MCTS) algorithm to solve the stochastic orienteering problem with chance constraints, i.e., a version of the problem where travel costs are random, and one is assigned a bound on the tolerable…
We present Fast-dRRT*, a sampling-based multi-robot planner, for real-time industrial automation scenarios. Fast-dRRT* builds upon the discrete rapidly-exploring random tree (dRRT*) planner, and extends dRRT* by using pre-computed swept…
This paper presents a hybrid robot motion planner that generates long-horizon motion plans for robot navigation in environments with obstacles. We propose a hybrid planner, RRT* with segmented trajectory optimization (RRT*-sOpt), which…
Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…
Decision tree algorithms have been among the most popular algorithms for interpretable (transparent) machine learning since the early 1980's. The problem that has plagued decision tree algorithms since their inception is their lack of…
Randomized methods such as PRM and RRT are widely used in motion planning. However, in some cases, their running-time suffers from inherent instability, leading to ``catastrophic'' performance even for relatively simple instances. We apply…