相关论文: Differentiable Boustrophedon Paths That Enable Opt…

This paper presents a novel approach for the differentiable rendering of convex polyhedra, addressing the limitations of recent methods that rely on implicit field supervision. Our technique introduces a strategy that combines…

Differentiable simulation is a promising toolkit for fast gradient-based policy optimization and system identification. However, existing approaches to differentiable simulation have largely tackled scenarios where obtaining smooth…

Local optimization presents a promising approach to expensive, high-dimensional black-box optimization by sidestepping the need to globally explore the search space. For objective functions whose gradient cannot be evaluated directly,…

The success of deep neural networks hinges on our ability to accurately and efficiently optimize high-dimensional, non-convex functions. In this paper, we empirically investigate the loss functions of state-of-the-art networks, and how…

We propose new sequential simulation-optimization algorithms for general convex optimization via simulation problems with high-dimensional discrete decision space. The performance of each choice of discrete decision variables is evaluated…

This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…

We propose randomized subspace gradient methods for high-dimensional constrained optimization. While there have been similarly purposed studies on unconstrained optimization problems, there have been few on constrained optimization problems…

Many core problems in robotics can be framed as constrained optimization problems. Often on these problems, the robotic system has uncertainty, or it would be advantageous to identify multiple high quality feasible solutions. To enable…

This paper proposes a new set of conditions for exactly representing collision avoidance constraints within optimization-based motion planning algorithms. The conditions are continuously differentiable and therefore suitable for use with…

The automation of data collection via mobile robots holds promise for increasing the efficacy of environmental investigations, but requires the system to autonomously determine how to sample the environment while avoiding obstacles.…

Multilevel optimization has gained renewed interest in machine learning due to its promise in applications such as hyperparameter tuning and continual learning. However, existing methods struggle with the inherent difficulty of efficiently…

A new decomposition optimization algorithm, called \textit{path-following gradient-based decomposition}, is proposed to solve separable convex optimization problems. Unlike path-following Newton methods considered in the literature, this…

The main contribution of this paper is a novel method for planning globally optimal trajectories for dynamical systems subject to polygonal constraints. The proposed method is a hybrid trajectory planning approach, which combines graph…

Safe path planning is a crucial component in autonomous robotics. The many approaches to find a collision free path can be categorically divided into trajectory optimisers and sampling-based methods. When planning using occupancy maps, the…

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…

This paper presents a method for optimal motion planning of continuum robots by employing Bernstein surfaces to approximate the system's dynamics and impose complex constraints, including collision avoidance. The main contribution is the…

Constrained motion planning is a common but challenging problem in robotic manipulation. In recent years, data-driven constrained motion planning algorithms have shown impressive planning speed and success rate. Among them, the latent…

Prediction-correction algorithms are a highly effective class of methods for solving pseudo-convex optimization problems. The descent direction of these algorithms can be viewed as an adjustment to the gradient direction based on the…

Federated learning heavily relies on distributed gradient descent techniques. In the situation where gradient information is not available, the gradients need to be estimated from zeroth-order information, which typically involves computing…

The concept of path homotopy has received widely attention in the field of path planning in recent years. In this article, a homotopy invariant based on convex dissection for a two-dimensional bounded Euclidean space is developed, which can…