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To enable the computation of effective randomized patrol routes for single- or multi-robot teams, we present RoSSO, a Python package designed for solving Markov chain optimization problems. We exploit machine-learning techniques such as…
In exact sparse optimization problems on Rd (also known as sparsity constrained problems), one looks for solution that have few nonzero components. In this paper, we consider problems where sparsity is exactly measured either by the…
While interior point methods have been the centerpiece of nonlinear programming tools used in science and engineering, their reliance on linear solvers that can tackle sparse symmetric indefinite and highly ill-conditioned problems made it…
The accelerated deployment of service robots have spawned a number of algorithm variations to better handle real-world conditions. Many local trajectory planning techniques have been deployed on practical robot systems successfully. While…
Sparse linear regression, which entails finding a sparse solution to an underdetermined system of linear equations, can formally be expressed as an $l_0$-constrained least-squares problem. The Orthogonal Least-Squares (OLS) algorithm…
This paper focuses on hyperparameter optimization for autonomous driving strategies based on Reinforcement Learning. We provide a detailed description of training the RL agent in a simulation environment. Subsequently, we employ Efficient…
Machine learning (ML) systems expose a rapidly expanding configuration space spanning model-parallelism strategies, communication optimizations, and low-level runtime parameters. End-to-end system efficiency is highly sensitive to these…
Policies trained in simulation often fail when transferred to the real world due to the `reality gap' where the simulator is unable to accurately capture the dynamics and visual properties of the real world. Current approaches to tackle…
Low-rank matrix approximation is a fundamental tool in data analysis for processing large datasets, reducing noise, and finding important signals. In this work, we present a novel truncated LU factorization called Spectrum-Revealing LU…
Adapter Tuning, which freezes the pretrained language models (PLMs) and only fine-tunes a few extra modules, becomes an appealing efficient alternative to the full model fine-tuning. Although computationally efficient, the recent Adapters…
We consider the high-dimensional linear regression model and assume that a fraction of the measurements are altered by an adversary with complete knowledge of the data and the underlying distribution. We are interested in a scenario where…
We present a sparse linear system solver that is based on a multifrontal variant of Gaussian elimination, and exploits low-rank approximation of the resulting dense frontal matrices. We use hierarchically semiseparable (HSS) matrices, which…
Relationship inference from sparse data is an important task with applications ranging from product recommendation to drug discovery. A recently proposed linear model for sparse matrix completion has demonstrated surprising advantage in…
This paper proposes a unified sparsity-aware robust recursive least-squares RLS (S-RRLS) algorithm for the identification of sparse systems under impulsive noise. The proposed algorithm generalizes multiple algorithms only by replacing the…
Advanced driver assistance systems have improved comfort, safety, and efficiency of modern vehicles. However, sensor limitations lead to noisy lane estimates that pose a significant challenge in developing performant control architectures.…
We present L0Learn: an open-source package for sparse linear regression and classification using $\ell_0$ regularization. L0Learn implements scalable, approximate algorithms, based on coordinate descent and local combinatorial optimization.…
How cost-effectively can we elicit strong reasoning in language models by leveraging their underlying representations? We answer this question with Resa, a family of 1.5B reasoning models trained via a novel and efficient sparse autoencoder…
Traditional Real-Time Operating Systems (RTOS) often suffer from limited parallel performance, whereas thread monitoring in Linux-based systems remains challenging. To overcome these limitations, this paper presents a satellite flight…
Microservice architecture is widely adopted in modern systems, where auto-scaling is critical for satisfying service-level objectives (SLOs). However, determining optimal scaling for microservices is difficult, and reactive resource…
In this paper, we obtain improved running times for regression and top eigenvector computation for numerically sparse matrices. Given a data matrix $A \in \mathbb{R}^{n \times d}$ where every row $a \in \mathbb{R}^d$ has $\|a\|_2^2 \leq L$…