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The training efficiency and scalability of language models on massive clusters currently remain a critical bottleneck. Mainstream approaches like ND parallelism are often cumbersome and complex, while flexible alternatives such as the Zero…

We propose a hierarchical architecture for efficiently computing high-quality solutions to structured mixed-integer programs (MIPs). To reduce computational effort, our approach decouples the original problem into a higher level problem and…

In this paper, we propose a new stochastic alternating direction method of multipliers (ADMM) algorithm, which incrementally approximates the full gradient in the linearized ADMM formulation. Besides having a low per-iteration complexity as…

We propose a variant of alternating direction method of multiplier (ADMM) to solve constrained trajectory optimization problems. Our ADMM framework breaks a joint optimization into small sub-problems, leading to a low iteration cost and…

We study the Stochastic Shortest Path (SSP) problem for autonomous systems with mixed max-sum cost aggregations under Linear Temporal Logic constraints. Classical SSP formulations rely on sum-aggregated costs, which are suitable for…

Decentralized non-convex optimization is important in many problems of practical relevance. Existing decentralized methods, however, typically either lack convergence guarantees for general non-convex problems, or they suffer from a high…

An emerging class of trajectory optimization methods enforces collision avoidance by jointly optimizing the robot's configuration and a separating hyperplane. However, as linear separators only apply to convex sets, these methods require…

In this study, we present a deep learning-optimization framework to tackle dynamic mixed-integer programs. Specifically, we develop a bidirectional Long Short Term Memory (LSTM) framework that can process information forward and backward in…

This paper introduces the Fej\'er-monotone hybrid steepest descent method (FM-HSDM), a new member to the HSDM family of algorithms, for solving affinely constrained minimization tasks in real Hilbert spaces, where convex smooth and…

We investigate regularized algorithms combining with projection for least-squares regression problem over a Hilbert space, covering nonparametric regression over a reproducing kernel Hilbert space. We prove convergence results with respect…

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…

We present a novel, practical, and provable approach for solving diagonally constrained semi-definite programming (SDP) problems at scale using accelerated non-convex programming. Our algorithm non-trivially combines acceleration motions…

Hyperbolic (HB) programming generalizes many popular convex optimization problems, including semidefinite and second-order cone programming. Despite substantial theoretical progress on HB programming, efficient computational tools for…

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…

Nonlinear programming (NLP) plays a critical role in domains such as power energy systems, chemical engineering, communication networks, and financial engineering. However, solving large-scale, nonconvex NLP problems remains a significant…

In this paper, the elliptic PDE-constrained optimization problem with box constraints on the control is studied. To numerically solve the problem, we apply the 'optimize-discretize-optimize' strategy. Specifically, the alternating direction…

This paper investigates an infinite-horizon linear quadratic stochastic (LQS) optimal control problem for a class of continuous-time stochastic systems. By employing the technique of adaptive dynamic programming (ADP), we propose a novel…

The alternating direction method of multipliers (ADMM) is a widely used method for solving many convex minimization models arising in signal and image processing. In this paper, we propose an inertial ADMM for solving a two-block separable…

We present a hybrid ML-heuristic approach that we name "Heuristically Assisted Deep Reinforcement Learning (HA-DRL)" to solve the problem of Network Slice Placement Optimization. The proposed approach leverages recent works on Deep…

This work presents a novel and efficient nonlinear programming framework that tightly integrates hierarchical decision-making with whole-body inverse kinematic planning and control. Decision-making plays a central role in many aspects of…