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This paper proposes a bidirectional rapidly-exploring random trees (RRT) algorithm to solve the motion planning problem for hybrid systems. The proposed algorithm, called HyRRT-Connect, propagates in both forward and backward directions in…
Gradient boosting, a method of building additive ensembles from weak learners, has established itself as a practical and theoretically-motivated approach to approximate functions, especially using decision tree weak learners. Comparable…
Motion planning problems have been studied by both the robotics and the controls research communities for a long time, and many algorithms have been developed for their solution. Among them, incremental sampling-based motion planning…
We propose a simple extension of top-down decision tree learning heuristics such as ID3, C4.5, and CART. Our algorithm achieves provable guarantees for all target functions $f: \{-1,1\}^n \to \{-1,1\}$ with respect to the uniform…
Hierarchical latent tree analysis (HLTA) is recently proposed as a new method for topic detection. It differs fundamentally from the LDA-based methods in terms of topic definition, topic-document relationship, and learning method. It has…
Deep reinforcement learning (DRL) has significantly advanced the field of combinatorial optimization (CO). However, its practicality is hindered by the necessity for a large number of reward evaluations, especially in scenarios involving…
Neural networks are discrete entities: subdivided into discrete layers and parametrized by weights which are iteratively optimized via difference equations. Recent work proposes networks with layer outputs which are no longer quantized but…
Decision tree ensembles are widely used in practice. In this work, we study in ensemble settings the effectiveness of replacing the split strategy for the state-of-the-art online tree learner, Hoeffding Tree, with a rigorous but more eager…
Second-order optimizers hold intriguing potential for deep learning, but suffer from increased cost and sensitivity to the non-convexity of the loss surface as compared to gradient-based approaches. We introduce a coordinate descent method…
This work presents PANTR, an efficient solver for nonconvex constrained optimization problems, that is well-suited as an inner solver for an augmented Lagrangian method. The proposed scheme combines forward-backward iterations with…
With the growth of Renewable Energy (RE) generation, the operation of power grids has become increasingly complex. One solution could be automated grid operation, where Deep Reinforcement Learning (DRL) has repeatedly shown significant…
Learned optimizers are a crucial component of meta-learning. Recent advancements in scalable learned optimizers have demonstrated their superior performance over hand-designed optimizers in various tasks. However, certain characteristics of…
We present a hierarchical RRT-based motion planning strategy, Hierarchical Annotated-Skeleton Guided RRT (HAS-RRT), guided by a workspace skeleton, to solve motion planning problems. HAS-RRT provides up to a 91% runtime reduction and builds…
Within the field of instance segmentation, most of the state-of-the-art deep learning networks rely nowadays on cascade architectures, where multiple object detectors are trained sequentially, re-sampling the ground truth at each step. This…
We introduce the notion of heterogeneous calibration that applies a post-hoc model-agnostic transformation to model outputs for improving AUC performance on binary classification tasks. We consider overconfident models, whose performance is…
The paper provides global optimization algorithms for two particularly difficult nonconvex problems raised by hybrid system identification: switching linear regression and bounded-error estimation. While most works focus on local…
Gradient-boosted regression trees (GBRTs) are hugely popular for solving tabular regression problems, but provide no estimate of uncertainty. We propose Instance-Based Uncertainty estimation for Gradient-boosted regression trees (IBUG), a…
We propose Regularized Overestimated Newton (RON), a Newton-type method with low per-iteration cost and strong global and local convergence guarantees for smooth convex optimization. RON interpolates between gradient descent and globally…
In this contribution we device and analyze improved variants of the non-conforming dual approach for trust-region reduced basis (TR-RB) approximation of PDE-constrained parameter optimization that has recently been introduced in [Keil et…
The study of optimal decision trees has gained increasing attention in recent years; however, despite substantial progress, it still suffers from two major challenges: First, trees constructed by existing optimal decision tree (ODT)…