相关论文: Learning Optimal Parameters for Multi-target Track…

This paper considers the problem of parameter identification for a multirobot system. We wish to understand when is it feasible for an adversarial observer to reverse-engineer the parameters of tasks being performed by a team of robots by…

This paper presents a pioneering approach to solving the linear quadratic regulation (LQR) and linear quadratic tracking (LQT) problems with constrained inputs using a novel off-policy continuous-time Q-learning framework. The proposed…

Parameter tuning is a common issue for many tracking algorithms. In order to solve this problem, this paper proposes an online parameter tuning to adapt a tracking algorithm to various scene contexts. In an offline training phase, this…

The convergence and numerical analysis of a low memory implementation of the Orthogonal Matching Pursuit greedy strategy, which is termed Self Projected Matching Pursuit, is presented. This approach renders an iterative way of solving the…

Modern agentic systems operate in environments with extremely large action spaces, such as tool-augmented language models with thousands of available APIs or retrieval operations. Despite this scale, empirical evidence suggests that only a…

We consider a planning problem where the dynamics and rewards of the environment depend on a hidden static parameter referred to as the context. The objective is to learn a strategy that maximizes the accumulated reward across all contexts.…

This paper presents two complementary frameworks to optimize Formula 1 race strategies, jointly accounting for energy allocation, tire wear and pit stop timing. First, the race scenario is modeled using lap time maps and a dynamic tire wear…

Motivated by the question of optimal functional approximation via compressed sensing, we propose generalizations of the Iterative Hard Thresholding and the Compressive Sampling Matching Pursuit algorithms able to promote sparse in levels…

We develop a probabilistic framework for \emph{rendezvous planning}: given sparse, noisy observations of a fast-moving target, plan rendezvous spatiotemporal coordinates for a set of significantly slower seeking agents. The unknown target…

This paper presents a novel learning-based trajectory planning framework for quadrotors that combines model-based optimization techniques with deep learning. Specifically, we formulate the trajectory optimization problem as a quadratic…

Learning from temporally-correlated data is a core facet of modern machine learning. Yet our understanding of sequential learning remains incomplete, particularly in the multi-trajectory setting where data consists of many independent…

Expensive multi-objective optimization problems can be found in many real-world applications, where their objective function evaluations involve expensive computations or physical experiments. It is desirable to obtain an approximate Pareto…

A greedy pursuit strategy which finds a common basis for approximating a set of similar signals is proposed. The strategy extends the Optimized Orthogonal Matching Pursuit approach to selecting the subspace containing the approximation of…

When pre-processing observational data via matching, we seek to approximate each unit with maximally similar peers that had an alternative treatment status--essentially replicating a randomized block design. However, as one considers a…

A challenging category of robotics problems arises when sensing incurs substantial costs. This paper examines settings in which a robot wishes to limit its observations of state, for instance, motivated by specific considerations of energy…

Sequential convex programming has been established as an effective framework for solving nonconvex trajectory planning problems. However, its performance is highly sensitive to problem parameters, including trajectory variables, algorithmic…

In this paper, we investigate a pursuit-evasion game in which a mobile observer tries to track a target in an environment containing obstacles. We formulate the game as an optimal control problem with state inequality constraint in a simple…

Many automated machine learning methods, such as those for hyperparameter and neural architecture optimization, are computationally expensive because they involve training many different model configurations. In this work, we present a new…

We present unsupervised parameter learning in a Gaussian variational inference setting that combines classic trajectory estimation for mobile robots with deep learning for rich sensor data, all under a single learning objective. The…

Motivated by recent work on stochastic gradient descent methods, we develop two stochastic variants of greedy algorithms for possibly non-convex optimization problems with sparsity constraints. We prove linear convergence in expectation to…