相关论文: Autotuning Symbolic Optimization Fabrics for Traje…

Trajectory optimization is a central component of fast and efficient autonomous racing. However practical optimization pipelines remain highly sensitive to initialization and may converge slowly or to suboptimal local solutions when seeded…

We introduce Bayesian optimization, a technique developed for optimizing time-consuming engineering simulations and for fitting machine learning models on large datasets. Bayesian optimization guides the choice of experiments during…

We propose a sampling-based trajectory optimization methodology for constrained problems. We extend recent works on stochastic search to deal with box control constraints,as well as nonlinear state constraints for discrete dynamical…

This paper presents a global trajectory optimization framework for minimizing lap time in autonomous racing under uncertain vehicle dynamics. Optimizing the trajectory over the full racing horizon is computationally expensive, and tracking…

Symbolic regression is a technique that can automatically derive analytic models from data. Traditionally, symbolic regression has been implemented primarily through genetic programming that evolves populations of candidate solutions…

Planning a safe and feasible trajectory for autonomous vehicles in real-time by fully utilizing perceptual information in complex urban environments is challenging. In this paper, we propose a spatio-temporal trajectory planning method…

Controller tuning and parameter optimization are crucial in system design to improve closed-loop system performance. Bayesian optimization has been established as an efficient model-free controller tuning and adaptation method. However,…

In this brief paper, we provide a mathematical framework that exploits the relationship between the maximum principle and dynamic programming for characterizing optimal learning trajectories in a class of learning problem, which is related…

Many real-world systems can be described by mathematical models that are human-comprehensible, easy to analyze and help explain the system's behavior. Symbolic regression is a method that can automatically generate such models from data.…

Trajectory optimization using a learned model of the environment is one of the core elements of model-based reinforcement learning. This procedure often suffers from exploiting inaccuracies of the learned model. We propose to regularize…

This paper presents a Bayesian optimization framework for the automatic tuning of shared controllers which are defined as a Model Predictive Control (MPC) problem. The proposed framework includes the design of performance metrics as well as…

Efficient trajectory generation is crucial for autonomous systems; however, current numerical methods often struggle to handle periodic behaviors effectively, particularly when the onboard sensors require equidistant temporal sampling. This…

We address the problem of automatically finding the parameters of a statistical machine translation system that maximize BLEU scores while ensuring that decoding speed exceeds a minimum value. We propose the use of Bayesian Optimization to…

Stochastic process discovery is concerned with deriving a model capable of reproducing the stochastic character of observed executions of a given process, stored in a log. This leads to an optimisation problem in which the model's parameter…

Bayesian Optimization is a sample-efficient black-box optimization procedure that is typically applied to problems with a small number of independent objectives. However, in practice we often wish to optimize objectives defined over many…

Bearing-based distributed formation control is attractive because it can be implemented using vision-based measurements to achieve a desired formation. Gradient-descent-based controllers using bearing measurements have been shown to have…

This paper proposes an automatic controller tuning framework based on linear optimal control combined with Bayesian optimization. With this framework, an initial set of controller gains is automatically improved according to a pre-defined…

Symbolic optimal control is a powerful method to synthesize algorithmically correct-by-design state-feedback controllers for nonlinear plants. Its solutions are (near-)optimal with respect to a given cost function. In this note, it is…

Data-driven optimization of sampling patterns in MRI has recently received a significant attention.Following recent observations on the combinatorial number of minimizers in off-the-grid optimization, we propose a framework to globally…

We propose a general framework for creating parameterized control schemes for decentralized multi-robot systems. A variety of tasks can be seen in the decentralized multi-robot literature, each with many possible control schemes. For…