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High-dimensional observations and unknown dynamics are major challenges when applying optimal control to many real-world decision making tasks. The Learning Controllable Embedding (LCE) framework addresses these challenges by embedding the…
Most 3D object generators prioritize aesthetic quality, often neglecting the physical constraints necessary for practical applications. One such constraint is that a 3D object should be self-supporting, i.e., remain balanced under gravity.…
Online Continual Learning (OCL) aims to learn from endless non\text{-}stationary data streams, yet most existing methods assume a flat label space and overlook the hierarchical organization of real\text{-}world concepts that evolves both…
Encoding time-series with Linear Dynamical Systems (LDSs) leads to rich models with applications ranging from dynamical texture recognition to video segmentation to name a few. In this paper, we propose to represent LDSs with…
This paper addresses the problem of bearing-based network localization, which aims to localize all the nodes in a static network given the locations of a subset of nodes termed anchors and inter-node bearings measured in a common reference…
This paper consider solving a class of nonconvex-strongly-convex distributed stochastic bilevel optimization (DSBO) problems with personalized inner-level objectives. Most existing algorithms require computational loops for hypergradient…
This paper addresses the problem of learning instantaneous occupancy levels of dynamic environments and predicting future occupancy levels. Due to the complexity of most real-world environments, such as urban streets or crowded areas, the…
We study the factor model problem, which aims to uncover low-dimensional structures in high-dimensional datasets. Adopting a robust data-driven approach, we formulate the problem as a saddle-point optimization. Our primary contribution is a…
Recently, there has been a growing interest in distributionally robust optimization (DRO) as a principled approach to data-driven decision making. In this paper, we consider a distributionally robust two-stage stochastic optimization…
In the dynamic linear program (LP) problem, we are given an LP undergoing updates and we need to maintain an approximately optimal solution. Recently, significant attention (e.g., [Gupta et al. STOC'17; Arar et al. ICALP'18, Wajc STOC'20])…
Rank-based zeroth-order (ZO) optimization -- which relies only on the ordering of function evaluations -- offers strong robustness to noise and monotone transformations, and underlies many successful algorithms such as CMA-ES, natural…
Direct Preference Optimization (DPO) and related methods align large language models from pairwise preferences by regularizing updates against a fixed reference policy. As the policy drifts, a static reference, however, can become…
Dynamic programming (DP) is one of the fundamental paradigms in algorithm design. However, many DP algorithms have to fill in large DP tables, represented by two-dimensional arrays, which causes at least quadratic running times and space…
Locality-sensitive hashing (LSH) is an effective randomized technique widely used in many machine learning tasks. The cost of hashing is proportional to data dimensions, and thus often the performance bottleneck when dimensionality is high…
Among the various Ultra-wideband (UWB) ranging methods, the absence of uplink communication or centralized computation makes downlink time-difference-of-arrival (DL-TDOA) localization the most suitable for large-scale industrial…
Quadrotor stability under complex dynamic disturbances and model uncertainties poses significant challenges. One of them remains the underfitting problem in high-dimensional features, which limits the identification capability of current…
We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…
A complete structure-preserving learning scheme for single-input/single-output (SISO) linear port-Hamiltonian systems is proposed. The construction is based on the solution, when possible, of the unique identification problem for these…
Safety issues at construction sites have long plagued the industry, posing risks to worker safety and causing economic damage due to potential hazards. With the advancement of artificial intelligence, particularly in the field of computer…
In the last decades the estimation of the intrinsic dimensionality of a dataset has gained considerable importance. Despite the great deal of research work devoted to this task, most of the proposed solutions prove to be unreliable when the…