Related papers: IPC: Incremental Probabilistic Consensus-based Con…

Many motion planning algorithms for automated driving require estimating the probability of collision (POC) to account for uncertainties in the measurement and estimation of the motion of road users. Common POC estimation techniques often…

Sampling orthogonal polynomial bases via Monte Carlo is of interest for uncertainty quantification of models with high-dimensional random inputs, using Polynomial Chaos (PC) expansions. It is known that bounding a probabilistic parameter,…

We investigate convergence properties of a proposed distributed model predictive control (DMPC) scheme, where agents negotiate to compute an optimal consensus point using an incremental subgradient method based on primal decomposition as…

Stochastic optimal control, which has the goal of driving the behavior of noisy systems, is broadly applicable in science, engineering and artificial intelligence. Our work introduces Stochastic Optimal Control Matching (SOCM), a novel…

In this paper we present an information theoretic approach to stochastic optimal control problems for systems with compound Poisson noise. We generalize previous work on information theoretic path integral control to discontinuous dynamics…

Principal Component Analysis (PCA) is widely used for dimensionality reduction and data analysis. However, PCA results are adversely affected by outliers often observed in real-world data. Existing robust PCA methods are often…

Large language models (LLMs) fine-tuned with alignment techniques, such as reinforcement learning from human feedback, have been instrumental in developing some of the most capable AI systems to date. Despite their success, existing methods…

The problem of constrained reinforcement learning (CRL) holds significant importance as it provides a framework for addressing critical safety satisfaction concerns in the field of reinforcement learning (RL). However, with the introduction…

The goal of the \emph{alignment problem} is to align a (given) point cloud $P = \{p_1,\cdots,p_n\}$ to another (observed) point cloud $Q = \{q_1,\cdots,q_n\}$. That is, to compute a rotation matrix $R \in \mathbb{R}^{3 \times 3}$ and a…

Reinforcement Learning with Verifiable Rewards (RLVR) demonstrates significant potential in enhancing the reasoning capabilities of Large Language Models (LLMs). However, existing RLVR methods are often constrained by issues such as…

Inter-cell interference coordination (ICIC) and intra-cell diversity (ICD) play important roles in improving cellular downlink coverage. Modeling cellular base stations (BSs) as a homogeneous Poisson point process (PPP), this paper provides…

In this paper, we consider a class of continuous-time, continuous-space stochastic optimal control problems. Building upon recent advances in Markov chain approximation methods and sampling-based algorithms for deterministic path planning,…

Medical imaging systems are often evaluated and optimized via objective, or task-specific, measures of image quality (IQ) that quantify the performance of an observer on a specific clinically-relevant task. The performance of the Bayesian…

Estimation techniques to precisely localize a kinematic platform with GNSS observables can be broadly partitioned into two categories: differential, or undifferenced. The differential techniques (e.g., real-time kinematic (RTK)) have…

We study the $(\varepsilon, \delta)$-PAC policy identification problem in finite-horizon episodic Markov Decision Processes. Existing approaches provide finite-time guarantees for approximate settings ($\varepsilon>0$) but suffer from high…

In this paper, we propose a probabilistic optimization method, named probabilistic incremental proximal gradient (PIPG) method, by developing a probabilistic interpretation of the incremental proximal gradient algorithm. We explicitly model…

Model predictive control (MPC) is increasingly being considered for control of fast systems and embedded applications. However, the MPC has some significant challenges for such systems. Its high computational complexity results in high…

Inverse Optimal Control (IOC) seeks to recover an unknown cost from expert demonstrations, and it provides a systematic way of modeling experts' decision mechanisms while considering the prior information of the cost functions.…

We introduce the Hamiltonian Monte Carlo Particle Swarm Optimizer (HMC-PSO), an optimization algorithm that reaps the benefits of both Exponentially Averaged Momentum PSO and HMC sampling. The coupling of the position and velocity of each…

Autonomous navigation requires an accurate model or map of the environment. While dramatic progress in the prior two decades has enabled large-scale SLAM, the majority of existing methods rely on non-linear optimization techniques to find…