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In this paper, we introduce a kind of approximate Karush--Kuhn--Tucker condition (AKKT) for a smooth cone-constrained vector optimization problem. We show that, without any constraint qualification, the AKKT condition is a necessary for a…
This paper is concerned with a backward stochastic linear-quadratic (LQ, for short) optimal control problem with deterministic coefficients. The weighting matrices are allowed to be indefinite, and cross-product terms in the control and…
We study a class of conditional independence models for discrete data with the property that one or more log-linear interactions are defined within two different marginal distributions and then constrained to 0; all the conditional…
A central question in verification is characterizing when a system has invariants of a certain form, and then synthesizing them. We say a system has a $k$ linear invariant, $k$-LI in short, if it has a conjunction of $k$ linear (non-strict)…
The purpose of this paper is to investigate the role that the continuous-time generalised Riccati equation plays within the context of singular linear-quadratic optimal control. This equation has been defined following the analogy with the…
The general inverse kinematics (IK) problem of a manipulator, namely that of acquiring the self-motion manifold (SMM) of all admissible joint angles for a desired end-effector pose, plays a vital role in robotics modeling, planning and…
The (global) Lipschitz smoothness condition is crucial in establishing the convergence theory for most optimization methods. Unfortunately, most machine learning and signal processing problems are not Lipschitz smooth. This motivates us to…
This work investigates robust monotonic convergent iterative learning control (ILC) for uncertain linear systems in both time and frequency domains, and the ILC algorithm optimizing the convergence speed in terms of $l_{2}$ norm of error…
In-context imitation learning (ICIL) is a new paradigm that enables robots to generalize from demonstrations to unseen tasks without retraining. A well-structured action representation is the key to capturing demonstration information…
We consider a linear regression model and propose an omnibus test to simultaneously check the assumption of independence between the error and the predictor variables, and the goodness-of-fit of the parametric model. Our approach is based…
We propose an adaptive accelerated smoothing technique for a nonsmooth convex optimization problem where the smoothing update rule is coupled with the momentum parameter. We also extend the setting to the case where the objective function…
Perception, localization, planning, and control, high-level functions often organized in a so-called pipeline, are amongst the core building blocks of modern autonomous (ground, air, and underwater) vehicle architectures. These functions…
Due to the non-smoothness of optimization problems in Machine Learning, generalized smoothness assumptions have been gaining a lot of attention in recent years. One of the most popular assumptions of this type is $(L_0,L_1)$-smoothness…
Optimal uncertainty quantification (OUQ) is a framework for numerical extreme-case analysis of stochastic systems with imperfect knowledge of the underlying probability distribution. This paper presents sufficient conditions under which an…
This paper is concerned with a kind of linear-quadratic (LQ) optimal control problem of backward stochastic differential equation (BSDE) with partial information. The cost functional includes cross terms between the state and control, and…
In this paper, we study various theoretical properties of a class of prioritized inverse kinematics (PIK) solutions that can be considered as a class of (output regulation or tracking) control laws of a dynamical system with prioritized…
Finite renormalization freedom in locally covariant quantum field theories on curved spacetime is known to be tightly constrained, under certain standard hypotheses, to the same terms as in flat spacetime up to finitely many curvature…
In this paper, we give a new penalized semidefinite programming approach for non-convex quadratically-constrained quadratic programs (QCQPs). We incorporate penalty terms into the objective of convex relaxations in order to retrieve…
Alleviating overestimation bias is a critical challenge for deep reinforcement learning to achieve successful performance on more complex tasks or offline datasets containing out-of-distribution data. In order to overcome overestimation…
Successive quadratic approximations (SQA) are numerically efficient for minimizing the sum of a smooth function and a convex function. The iteration complexity of inexact SQA methods has been analyzed recently. In this paper, we present an…