相关论文: Dynamic Path Contraction for Distributed, Dynamic …

Route planning is important in transportation. Existing works focus on finding the shortest path solution or using metrics such as safety and energy consumption to determine the planning. It is noted that most of these studies rely on prior…

Researchers and practitioners in the field of reinforcement learning (RL) frequently leverage parallel computation, which has led to a plethora of new algorithms and systems in the last few years. In this paper, we re-examine the challenges…

Differential Dynamic Programming (DDP) has become a well established method for unconstrained trajectory optimization. Despite its several applications in robotics and controls however, a widely successful constrained version of the…

We develop a system-theoretic framework for the structured analysis of distributed optimization algorithms with decomposable cost functions. We model such algorithms as a network of interacting dynamical systems and derive tests for…

This work addresses inverse linear optimization where the goal is to infer the unknown cost vector of a linear program. Specifically, we consider the data-driven setting in which the available data are noisy observations of optimal…

Optimizing problems in a distributed manner is critical for systems involving multiple agents with private data. Despite substantial interest, a unified method for analyzing the convergence rates of distributed optimization algorithms is…

Dynamic sampling mechanisms in deep learning architectures have demonstrated utility across many computer vision models, though the theoretical analysis of these structures has not yet been unified. In this paper we connect the various…

Learning domain adaptive policies that can generalize to unseen transition dynamics, remains a fundamental challenge in learning-based control. Substantial progress has been made through domain representation learning to capture…

Feedback optimization is an increasingly popular control paradigm to optimize dynamical systems, accounting for control objectives that concern the system operation at steady-state. Existing feedback optimization techniques heavily rely on…

In distributed optimization, the practical problem-solving performance is essentially sensitive to algorithm selection, parameter setting, problem type and data pattern. Thus, it is often laborious to acquire a highly efficient method for a…

This paper focuses on an online version of the emerging distributed constrained aggregative optimization framework, which is particularly suited for applications arising in cooperative robotics. Agents in a network want to minimize the sum…

Distributed Pseudo-tree Optimization Procedure (DPOP) is a well-known message passing algorithm that has been used to provide optimal solutions of Distributed Constraint Optimization Problems (DCOPs) -- a framework that is designed to…

In this work, we propose Answer-Set Programming (ASP) as a tool for rapid prototyping of dynamic programming algorithms based on tree decompositions. In fact, many such algorithms have been designed, but only a few of them found their way…

Coded distributed computation has become common practice for performing gradient descent on large datasets to mitigate stragglers and other faults. This paper proposes a novel algorithm that encodes the partial derivatives themselves and…

In this paper, we address a class of distributed optimization problems in the presence of inter-agent communication delays based on passivity. We first focus on unconstrained distributed optimization and provide a passivity-based…

Diffusion Policies have significantly advanced robotic manipulation tasks via imitation learning, but their application on resource-constrained mobile platforms remains challenging due to computational inefficiency and extensive memory…

Dynamic programming is widely used for exact computations based on tree decompositions of graphs. However, the space complexity is usually exponential in the treewidth. We study the problem of designing efficient dynamic programming…

Incorporating pre-collected offline data can substantially improve the sample efficiency of reinforcement learning (RL), but its benefits can break down when the transition dynamics in the offline dataset differ from those encountered…

We consider a road network represented by a directed graph. We assume to collect many measurements of traffic flows on all the network arcs, or on a subset of them. We assume that the users are divided into different groups. Each group…

Many recent machine learning models rely on fine-grained dynamic control flow for training and inference. In particular, models based on recurrent neural networks and on reinforcement learning depend on recurrence relations, data-dependent…