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We address an optimal reachability problem for a planar manipulator in a constrained environment. After introducing the optmization problem in full generality, we practically embed the geometry of the workspace in the problem, by…
We provide a simple method and relevant theoretical analysis for efficiently estimating higher-order lp distances. While the analysis mainly focuses on l4, our methodology extends naturally to p = 6,8,10..., (i.e., when p is even).…
In several multiobjective decision problems Pairwise Comparison Matrices (PCM) are applied to evaluate the decision variants. The problem that arises very often is the inconsistency of a given PCM. In such a situation it is important to…
We present a proximal gradient method for solving convex multiobjective optimization problems, where each objective function is the sum of two convex functions, with one assumed to be continuously differentiable. The algorithm incorporates…
We consider the rooted orienteering problem in Euclidean space: Given $n$ points $P$ in $\mathbb R^d$, a root point $s\in P$ and a budget $\mathcal B>0$, find a path that starts from $s$, has total length at most $\mathcal B$, and visits as…
Probabilistic modeling provides the capability to represent and manipulate uncertainty in data, models, predictions and decisions. We are concerned with the problem of learning probabilistic models of dynamical systems from measured data.…
Robust optimization(RO) is an important tool for handling optimization problem with uncertainty. The main objective of RO is to solve optimization problems due to uncertainty associated with constraints satisfying all realizations of…
As the era of large language models (LLMs) unfolds, Preference Optimization (PO) methods have become a central approach to aligning LLMs with human preferences and improving performance. We propose Maximum a Posteriori Preference…
Global mobile robot localization is the problem of determining a robot's pose in an environment, using sensor data, when the starting position is unknown. A family of probabilistic algorithms known as Monte Carlo Localization (MCL) is…
In this series of eight papers we present the applications of methods from wavelet analysis to polynomial approximations for a number of accelerator physics problems. In this part we consider orbital motion in transverse plane for a single…
Distance metric learning has attracted a lot of interest for solving machine learning and pattern recognition problems over the last decades. In this work we present a simple approach based on concepts from statistical physics to learn…
Many geometric optimization problems can be reduced to finding points in space (centers) minimizing an objective function which continuously depends on the distances from the centers to given input points. Examples are $k$-Means, Geometric…
The Paulsen problem is a basic open problem in operator theory: Given vectors $u_1, \ldots, u_n \in \mathbb R^d$ that are $\epsilon$-nearly satisfying the Parseval's condition and the equal norm condition, is it close to a set of vectors…
Path planning is one of the most vital elements of mobile robotics, providing the agent with a collision-free route through the workspace. The global path plan can be calculated with a variety of informed search algorithms, most notably the…
We present a new approach to approximate nearest-neighbor queries in fixed dimension under a variety of non-Euclidean distances. We are given a set $S$ of $n$ points in $\mathbb{R}^d$, an approximation parameter $\varepsilon > 0$, and a…
We consider problems with multiple linear objectives and linear constraints and use Adjustable Robust Optimization and Polynomial Optimization as tools to approximate the Pareto set with polynomials of arbitrarily large degree. The main…
Euclidean distance matrix optimization with ordinal constraints (EDMOC) has found important applications in sensor network localization and molecular conformation. It can also be viewed as a matrix formulation of multidimensional scaling,…
We present a very simple family of traveling salesman instances with $n$ cities where the nearest neighbor rule may produce a tour that is $\Theta(\log n)$ times longer than an optimum solution. Our family works for the graphic, the…
In partially observable (PO) environments, deep reinforcement learning (RL) agents often suffer from unsatisfactory performance, since two problems need to be tackled together: how to extract information from the raw observations to solve…
Evaluating preference optimization (PO) algorithms on LLM alignment is a challenging task that presents prohibitive costs, noise, and several variables like model size and hyper-parameters. In this work, we show that it is possible to gain…