相关论文: Trust-Region Neural Moving Horizon Estimation for …

This paper introduces a modified Byrd-Omojokun (BO) trust region algorithm to address the challenges posed by noisy function and gradient evaluations. The original BO method was designed to solve equality constrained problems and it forms…

Monocular height estimation (MHE) from remote sensing imagery has high potential in generating 3D city models efficiently for a quick response to natural disasters. Most existing works pursue higher performance. However, there is little…

Optimizing industrial processes often involves gray-box models that couple algebraic glass-box equations with black-box components lacking analytic derivatives. Such systems challenge derivative-based solvers. The classical trust-region…

Physics-informed machine learning and inverse modeling require the solution of ill-conditioned non-convex optimization problems. First-order methods, such as SGD and ADAM, and quasi-Newton methods, such as BFGS and L-BFGS, have been applied…

This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning…

In this work, we introduce a novel stochastic second-order method, within the framework of a non-monotone trust-region approach, for solving the unconstrained, nonlinear, and non-convex optimization problems arising in the training of deep…

We propose a novel framework for analyzing convergence rates of stochastic optimization algorithms with adaptive step sizes. This framework is based on analyzing properties of an underlying generic stochastic process, in particular by…

Gradient-based hyperparameter optimization methods update hyperparameters using hypergradients, gradients of a meta criterion with respect to hyperparameters. Previous research used two distinct update strategies: optimizing hyperparameters…

This paper considers state estimation for general nonlinear discrete-time systems subject to measurement noise and possibly unbounded unknown inputs. To approach this problem, we first propose the concept of strong nonlinear detectability.…

Gradient Boosting Machines (GBMs) have demonstrated remarkable success in solving diverse problems by utilizing Taylor expansions in functional space. However, achieving a balance between performance and generality has posed a challenge for…

We develop a trust-region method for minimizing the sum of a smooth term $f$ and a nonsmooth term $h$), both of which can be nonconvex. Each iteration of our method minimizes a possibly nonconvex model of $f + h$ in a trust region. The…

Nanomechanical resonant sensors are used in mass spectrometry via detection of resonance frequency jumps. There is a fundamental trade-off between detection speed and accuracy. Temporal and size resolution are limited by the resonator…

The fusion between an inertial navigation system and global navigation satellite systems is regularly used in many platforms such as drones, land vehicles, and marine vessels. The fusion is commonly carried out in a model-based extended…

Hardware-aware training (HAT) is widely used to improve the robustness of neural networks on non-ideal AI accelerators, such as analog in-memory computing (IMC) systems. However, not all hardware-induced distortions are equally compensable…

Over recent years, deep learning based image registration has achieved impressive accuracy in many domains, including medical imaging and, specifically, human neuroimaging with magnetic resonance imaging (MRI). However, the uncertainty…

This paper presents an algorithm to improve state estimation for legged robots. Among existing model-based state estimation methods for legged robots, the contact-aided invariant extended Kalman filter defines the state on a Lie group to…

The problem of adaptive Kalman filtering for a discrete observable linear time-varying system with unknown noise covariance matrices is addressed in this paper. The measurement difference autocovariance method is used to formulate a linear…

Integrating model-based machine learning methods into deep neural architectures allows one to leverage both the expressive power of deep neural nets and the ability of model-based methods to incorporate domain-specific knowledge. In…

Careful tuning of the learning rate, or even schedules thereof, can be crucial to effective neural net training. There has been much recent interest in gradient-based meta-optimization, where one tunes hyperparameters, or even learns an…

Deep neural networks have become widely used, obtaining remarkable results in domains such as computer vision, speech recognition, natural language processing, audio recognition, social network filtering, machine translation, and…