Related papers: cuNRTO: GPU-Accelerated Nonlinear Robust Trajector…

In this paper, we present a novel nonlinear programming-based approach to fine-tune pre-trained neural networks to improve robustness against adversarial attacks while maintaining high accuracy on clean data. Our method introduces…

Robust optimization is an established framework for modeling optimization problems with uncertain parameters. While static robust optimization is often criticized for being too conservative, two-stage (or adjustable) robust optimization…

Convolutional Neural Networks (CNNs) are pivotal in computer vision and Big Data analytics but demand significant computational resources when trained on large-scale datasets. Conventional training via back-propagation (BP) with losses like…

Predictive energy management of Connected and Automated Vehicles (CAVs), in particular those with multiple power sources, has the potential to significantly improve energy savings in real-world driving conditions. In particular, the…

Over the most recent years, quantized graph neural network (QGNN) attracts lots of research and industry attention due to its high robustness and low computation and memory overhead. Unfortunately, the performance gains of QGNN have never…

Nonconvex optimization underlies many modern machine learning and control tasks, where saddle points pose the dominant obstacle to reliable convergence in high-dimensional settings. Escaping these saddle points deterministically using…

We present DDTO--deferred-decision trajectory optimization--a framework for trajectory generation with resilience to unmodeled uncertainties and contingencies. The key idea is to ensure that a collection of candidate targets is reachable…

Convolutional Neural Networks (CNNs) have produced state-of-the-art results for image classification tasks. However, they are limited in their ability to handle rotational and viewpoint variations due to information loss in max-pooling…

In many mobile robotics scenarios, such as drone racing, the goal is to generate a trajectory that passes through multiple waypoints in minimal time. This problem is referred to as time-optimal planning. State-of-the-art approaches either…

This paper proposes an efficient numerical method based on second-order cone programming (SOCP) to solve dynamic optimal transport (DOT) problems with quadratic cost on staggered grid discretization. By properly reformulating discretized…

Though many compilation and runtime systems have been developed for DNNs in recent years, the focus has largely been on static DNNs. Dynamic DNNs, where tensor shapes and sizes and even the set of operators used are dependent upon the input…

The number of cores on graphical computing units (GPUs) is reaching thousands nowadays, whereas the clock speed of processors stagnates. Unfortunately, constraint programming solvers do not take advantage yet of GPU parallelism. One reason…

Projected Gradient Descent (PGD) methods offer a simple and scalable approach to topology optimization (TO), yet they often struggle with nonlinear and multi-constraint problems due to the complexity of active-set detection. This paper…

We propose a novel unsupervised learning framework for solving nonlinear optimal control problems (OCPs) with input constraints in real-time. In this framework, a neural network (NN) learns to predict the optimal co-state trajectory that…

Providing end-to-end stochastic computing (SC) neural network acceleration for state-of-the-art (SOTA) models has become an increasingly challenging task, requiring the pursuit of accuracy while maintaining efficiency. It also necessitates…

Advances in optical and electrophysiological recording technologies have made it possible to record the dynamics of thousands of neurons, opening up new possibilities for interpreting and controlling large neural populations in behaving…

This paper explores the problem of collision-free motion generation for manipulators by formulating it as a global motion optimization problem. We develop a parallel optimization technique to solve this problem and demonstrate its…

This paper proposes a versatile high-performance execution model, inspired by systolic arrays, for memory-bound regular kernels running on CUDA-enabled GPUs. We formulate a systolic model that shifts partial sums by CUDA warp primitives for…

Recurrent neural network (RNN)'s architecture is a key factor influencing its performance. We propose algorithms to optimize hidden sizes under running time constraint. We convert the discrete optimization into a subset selection problem.…

Reconfigurable data center networks (DCNs) enhance traditional architectures with optical circuit switches (OCSs), enabling dynamic reconfiguration of inter-pod links, i.e., the logical topology. Optimizing this topology is crucial for…