相关论文: Robust Performance Analysis of Source-Seeking Dyna…
For general antiferromagnetic 2-spin systems, including the hardcore model and the antiferromagnetic Ising model, there is an $\mathsf{FPTAS}$ for the partition function on graphs of maximum degree $\Delta$ when the infinite regular tree…
In vehicular edge computing (VEC) system, some vehicles with surplus computing resources can provide computation task offloading opportunities for other vehicles or pedestrians. However, vehicular network is highly dynamic, with fast…
Projected Inverse Dynamics Control (PIDC) is commonly used in robots subject to contact, especially in quadrupedal systems. Many methods based on such dynamics have been developed for quadrupedal locomotion tasks, and only a few works…
This paper presents a novel approach to multi-agent reinforcement learning (RL) for linear systems with convex polytopic constraints. Existing work on RL has demonstrated the use of model predictive control (MPC) as a function approximator…
Traffic congestion in metropolitan areas is a world-wide problem that can be ameliorated by traffic lights that respond dynamically to real-time conditions. Recent studies applying deep reinforcement learning (RL) to optimize single traffic…
Achieving convergence of multiple learning agents in general $N$-player games is imperative for the development of safe and reliable machine learning (ML) algorithms and their application to autonomous systems. Yet it is known that, outside…
We propose inertial versions of block coordinate descent methods for solving non-convex non-smooth composite optimization problems. Our methods possess three main advantages compared to current state-of-the-art accelerated first-order…
We consider federated learning of linearly-parameterized nonlinear systems. We establish theoretical guarantees on the effectiveness of federated nonlinear system identification compared to centralized approaches, demonstrating that the…
We give a probabilistic analysis of the unit-demand Euclidean capacitated vehicle routing problem in the random setting, where the input distribution consists of $n$ unit-demand customers modeled as independent, identically distributed…
We investigate the feasibility of extracting infinite volume scattering phase shift on quantum computers in a simple one-dimensional quantum mechanical model, using the formalism established in Ref.~\cite{Guo:2023ecc} that relates the…
Incorporating inductive biases is a promising approach for tackling challenging robot learning domains with sample-efficient solutions. This paper identifies partially observable domains where symmetries can be a useful inductive bias for…
A multi-agent system designed to achieve distance-based shape control with flocking behavior can be seen as a mechanical system described by a Lagrangian function and subject to additional external forces. Forced variational integrators are…
Mixed Quantum Classical (MQC)-IVR is a recently introduced semiclassical framework that allows for selective quantization of the modes of a complex system. In the quantum limit, MQC reproduces the semiclassical Double Herman-Kluk IVR…
We systematically review the Variational Optimization, Variational Inference and Stochastic Search perspectives on sampling-based dynamic optimization and discuss their connections to state-of-the-art optimizers and Stochastic Optimal…
The framework of Integral Quadratic Constraints (IQC) introduced by Lessard et al. (2014) reduces the computation of upper bounds on the convergence rate of several optimization algorithms to semi-definite programming (SDP). In particular,…
Multi-Agent Reinforcement Learning (MARL) has emerged as a powerfulparadigm for cooperative decision-making in connected autonomous vehicles(CAVs); however, existing approaches often fail to guarantee stability, optimality,and…
In this paper, we develop a novel adaptation-based approach to constrained control design under multiple state and input constraints. Specifically, we introduce a method for synthesizing any number of time-varying candidate control barrier…
Improving sampling efficiency and generalization capability is critical for the successful data-driven control of quadrotor unmanned aerial vehicles (UAVs) that are inherently unstable. While various reinforcement learning (RL) approaches…
A very successful model for simulating emergency evacuation is the social-force model. At the heart of the model is the self-driven force that is applied to an agent and is directed towards the exit. However, it is not clear if the…
Recent advances in power system simulation have included the use of complex rectangular current and voltage (I-V) variables for solving the power flow and three-phase power flow problems. This formulation has demonstrated superior…