Related papers: EL-AGHF: Extended Lagrangian Affine Geometric Heat…
Motion planning for manipulators under task space constraints is difficult as it constrains the joint configurations to always lie on an implicitly defined manifold. It is possible to view task constrained motion planning as an optimization…
Recent studies have shown that proximal gradient (PG) method and accelerated gradient method (APG) with restarting can enjoy a linear convergence under a weaker condition than strong convexity, namely a quadratic growth condition (QGC).…
Employing a phase space which includes the (Riemann-Liouville) fractional derivative of curves evolving on real space, we develop a restricted variational principle for Lagrangian systems yielding the so-called restricted fractional…
Designing continuous trajectories whose time-averaged occupancy provably matches a prescribed spatial density (the \emph{ergodic coverage} problem) is central to UAV-assisted data collection and sensing, robotic exploration, and mobile…
This article concerns the problem of computing solutions to state-constrained optimal control problems whose trajectory is affected by a flow field. This general mathematical framework is particularly pertinent to the requirements…
A new geometric approach to systems with boundary energy flow is developed using infinite-dimensional Dirac structures within the Lagrangian formalism. This framework satisfies a list of consistency criteria with the geometric setting of…
This paper proposes and establishes the iteration-complexity of an inexact proximal accelerated augmented Lagrangian (IPAAL) method for solving linearly constrained smooth nonconvex composite optimization problems. Each IPAAL iteration…
We present an approach to solving problems in micromechanics that is amenable to massively parallel calculations through the use of graphical processing units and other accelerators. The problems lead to nonlinear differential equations…
Motivated by a similar approach for Born-Oppenheimer molecular dynamics, this paper proposes an extended "shadow" Lagrangian density for quantum states of superfluids. The extended Lagrangian contains an additional field variable that is…
Motivated by robotic trajectory optimization problems we consider the Augmented Lagrangian approach to constrained optimization. We first propose an alternative augmentation of the Lagrangian to handle the inequality case (not based on…
Diffusion models have demonstrated strong generative performance when using guidance methods such as classifier-free guidance (CFG), which enhance output quality by modifying the sampling trajectory. These methods typically improve a target…
We propose an efficient semi-Lagrangian method for solving the two-dimensional incompressible Euler equations with high precision on a coarse grid. The new approach evolves the flow map using the gradient-augmented level set method (GALSM).…
In this paper, we propose a unified primal-dual algorithm framework based on the augmented Lagrangian function for composite convex problems with conic inequality constraints. The new framework is highly versatile. First, it not only covers…
Anti-selfdual Lagrangians on a state space lift to path space provided one adds a suitable selfdual boundary Lagrangian. This process can be iterated by considering the path space as a new state space for the newly obtained anti-selfdual…
Phase-space Lagrangian dynamics in ideal fluids (i.e, continua) is usually related to the so-called {\it ideal tracer particles}. The latter, which can in principle be permitted to have arbitrary initial velocities, are understood as…
Non-isothermal particles suspended in a fluid lead to complex interactions -- the particles respond to changes in the fluid flow, which in turn is modified by their temperature anomaly. Here, we perform a novel proof-of-concept numerical…
We propose the novel augmented Gaussian random field (AGRF), which is a universal framework incorporating the data of observable and derivatives of any order. Rigorous theory is established. We prove that under certain conditions, the…
We propose, analyze, and numerically validate a correction adaptive two-grid finite element method (CAT-GFEM) for nonselfadjoint or indefinite elliptic problems. In contrast to the adaptive two-grid finite element method (ATGFEM) of Li and…
We consider Lagrangian coherent structures (LCSs) as the boundaries of material subsets whose advective evolution is metastable under weak diffusion. For their detection, we first transform the Eulerian advection-diffusion equation to…
This paper addresses a class of general nonsmooth and nonconvex composite optimization problems subject to nonlinear equality constraints. We assume that a part of the objective function and the functional constraints exhibit local…