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The H-frame (also known as H-Bot) architecture is a simple and elegant two-axis parallel positioning system used to construct the XY stage of 3D printers. It holds potential for high speed and excellent dynamic performance due to the use of…
In this paper, we address the efficient numerical solution of linear and quadratic programming problems, often of large scale. With this aim, we devise an infeasible interior point method, blended with the proximal method of multipliers,…
PDDL+ planning has its semantics rooted in hybrid automata (HA) and recent work has shown that it can be modeled as a network of HAs. Addressing the complexity of nonlinear PDDL+ planning as HAs requires both space and time efficient…
Many emerging use cases of data mining and machine learning operate on large datasets with data from heterogeneous sources, specifically with both sparse and dense components. For example, dense deep neural network embedding vectors are…
We propose an efficient first-order method, based on the alternating direction method of multipliers (ADMM), to solve the homogeneous self-dual embedding problem for a primal-dual pair of semidefinite programs (SDPs) with chordal sparsity.…
We develop a new interior-point method (IPM) for symmetric-cone optimization, a common generalization of linear, second-order-cone, and semidefinite programming. In contrast to classical IPMs, we update iterates with a geodesic of the cone…
We show that the effects of finite-precision arithmetic in forming and solving the linear system that arises at each iteration of primal-dual interior-point algorithms for nonlinear programming are benign, provided that the iterates satisfy…
Training deep neural network is a high dimensional and a highly non-convex optimization problem. Stochastic gradient descent (SGD) algorithm and it's variations are the current state-of-the-art solvers for this task. However, due to…
The convergence behaviour of first-order methods can be severely slowed down when applied to high-dimensional non-convex functions due to the presence of saddle points. If, additionally, the saddles are surrounded by large plateaus, it is…
Deep learning algorithms often require solving a highly non-linear and nonconvex unconstrained optimization problem. Methods for solving optimization problems in large-scale machine learning, such as deep learning and deep reinforcement…
Semidefinite programs (SDPs) and their solvers are powerful tools with many applications in machine learning and data science. Designing scalable SDP solvers is challenging because by standard the positive semidefinite decision variable is…
Spatial computing architectures promise a major stride in performance and energy efficiency over the traditional load/store devices currently employed in large scale computing systems. The adoption of high-level synthesis (HLS) from…
In this work, we present several tools for efficient sequential hierarchical least-squares programming (S-HLSP) for lexicographical optimization tailored to robot control and planning. As its main step, S-HLSP relies on approximations of…
We introduce SDPB: an open-source, parallelized, arbitrary-precision semidefinite program solver, designed for the conformal bootstrap. SDPB significantly outperforms less specialized solvers and should enable many new computations. As an…
We present SuperSCS: a fast and accurate method for solving large-scale convex conic problems. SuperSCS combines the SuperMann algorithmic framework with the Douglas-Rachford splitting which is applied on the homogeneous self-dual embedding…
This paper presents a novel sensitivity-based distributed programming (SBDP) approach for non-convex, large-scale nonlinear programs (NLP). The algorithm relies on first-order sensitivities to cooperatively solve the central NLP in a…
In modern engineering scenarios, there is often a strict upper bound on the number of algorithm iterations that can be performed within a given time limit. This raises the question of optimal algorithmic configuration for a fixed and finite…
Despite the success of Deep Learning (DL) serious reliability issues such as non-robustness persist. An interesting aspect is, whether these problems arise due to insufficient tools or due to fundamental limitations of DL. We study this…
Solving a bilevel optimization problem is at the core of several machine learning problems such as hyperparameter tuning, data denoising, meta- and few-shot learning, and training-data poisoning. Different from simultaneous or…
In breakthrough work, Tardos (Oper. Res. '86) gave a proximity based framework for solving linear programming (LP) in time depending only on the constraint matrix in the bit complexity model. In Tardos's framework, one reduces solving the…