相关论文: Benchmarking Different QP Formulations and Solvers…

This study focuses on the locomotion capability improvement in a tendon-driven soft quadruped robot through an online adaptive learning approach. Leveraging the inverse kinematics model of the soft quadruped robot, we employ a central…

The traditional use-case of query performance prediction (QPP) is to identify which queries perform well and which perform poorly for a given ranking model. A more fine-grained and arguably more challenging extension of this task is to…

Harmonic model predictive control (HMPC) is a model predictive control (MPC) formulation which displays several benefits over other MPC formulations, especially when using a small prediction horizon. These benefits, however, come at the…

Despite the retrieval effectiveness of queries being mutually independent of one another, the evaluation of query performance prediction (QPP) systems has been carried out by measuring rank correlation over an entire set of queries. Such a…

The escalating computational demands and energy footprint of GPU-accelerated computing systems complicate informed design and operational decisions. We present the first release of Wattlytics (https://wattlytics.netlify.app), an…

We introduce a new tool for quantum algorithms called quantum fast-forwarding (QFF). The tool uses quantum walks as a means to quadratically fast-forward a reversible Markov chain. More specifically, with $P$ the Markov chain transition…

The contact sequence of humanoid walking consists of single and double support phases (SSP and DSP), and their coordination through proper duration and dynamic transition based on the robot's state is crucial for maintaining walking…

High-performance computing (HPC) systems expose many interdependent configuration knobs that impact runtime, resource usage, power, and variability. Existing predictive tools model these outcomes, but do not support structured exploration,…

Solving real-time quadratic programming (QP) is a ubiquitous task in control engineering, such as in model predictive control and control barrier function-based QP. In such real-time scenarios, certifying that the employed QP algorithm can…

Planning problems are hard, motion planning, for example, isPSPACE-hard. Such problems are even more difficult in the presence of uncertainty. Although, Markov Decision Processes (MDPs) provide a formal framework for such problems, finding…

The principal task to control dynamical systems is to ensure their stability. When the system is unknown, robust approaches are promising since they aim to stabilize a large set of plausible systems simultaneously. We study linear…

Solving large-scale nonlinear model predictive control (NMPC) problems at kilohertz (kHz) rates on standard processors remains a formidable challenge. This paper proposes a Koopman-BoxQP framework that i) learns a linear Koopman…

In this paper, we present efficient solutions for the nonlinear program (NLP) associated with nonlinear model predictive control (NMPC) by leveraging the linear parameter-varying (LPV) embedding of nonlinear models and sequential quadratic…

Quantum algorithms for simulation of Hamiltonian evolution are often based on product formulae. The fractal methods give a systematic way to find arbitrarily high-order product formulae, but result in a large number of exponentials. On the…

This work presents and evaluates a novel input parameterization method which improves the tractability of model predictive control (MPC) for high degree of freedom (DoF) robots. Experimental results demonstrate that by parameterizing the…

In this paper, we aim to improve the robustness of dynamic quadrupedal locomotion through two aspects: 1) fast model predictive foothold planning, and 2) applying LQR to projected inverse dynamic control for robust motion tracking. In our…

The LHZ parity embedding is one of the front-running methods for implementing difficult-to-engineer long-range interactions in quantum optimisation problems. Continuous-time quantum walks are a leading approach for solving quantum…

Important computational physics problems are often large-scale in nature, and it is highly desirable to have robust and high performing computational frameworks that can quickly address these problems. However, it is no trivial task to…

Sequential quadratic programming (SQP) methods have been remarkably successful in solving a broad range of nonlinear optimization problems. These methods iteratively construct and solve quadratic programming (QP) subproblems to compute…

We propose a novel heuristic quantum algorithm for the Minimum Vertex Cover (MVC) problem based on continuous-time quantum walks (CTQWs). In this framework, the coherent propagation of a quantum walker over a graph encodes its structural…