相关论文: imuQP: An Inverse-Matrix-Updates-Based Fast QP Sol…

Model predictive control (MPC) is one of the most successful modern control methods. It relies on repeatedly solving a finite-horizon optimal control problem and applying the beginning piece of the optimal input. In this paper, we develop a…

This paper presents an efficient parallel Cholesky factorization and triangular solve algorithm for the Karush-Kuhn-Tucker (KKT) systems arising in multistage optimization problems, with a focus on model predictive control and trajectory…

Input constrained Model predictive control (MPC) includes an optimization problem which should iteratively be solved at each time-instance. The well-known drawback of model predictive control is the computational cost of the optimization…

We present \texttt{DR-DAQP}, an open-source solver for strongly monotone affine variational inequaliries that combines Douglas-Rachford operator splitting with an active-set acceleration strategy. The key idea is to estimate the active set…

We develop an open-source, end-to-end software (named QHDOPT), which can solve nonlinear optimization problems using the quantum Hamiltonian descent (QHD) algorithm. QHDOPT offers an accessible interface and automatically maps tasks to…

Model-predictive control (MPC) is a powerful tool for controlling highly dynamic robotic systems subject to complex constraints. However, MPC is computationally demanding, and is often impractical to implement on small, resource-constrained…

Robust optimal or min-max model predictive control (MPC) approaches aim to guarantee constraint satisfaction over a known, bounded uncertainty set while minimizing a worst-case performance bound. Traditionally, these methods compute a…

Classical simulation of quantum computers will continue to play an essential role in the progress of quantum information science, both for numerical studies of quantum algorithms and for modeling noise and errors. Here we introduce the…

Nonlinear Model Predictive Control (NMPC) is a state-of-the-art approach for locomotion and manipulation which leverages trajectory optimization at each control step. While the performance of this approach is computationally bounded,…

Active feedback stabilization of the dominant resistive wall mode (RWM) for an ITER H-mode scenario at high plasma pressure using infinite-horizon model predictive control (MPC) is presented. The MPC approach is closely-related to…

QMCPACK has enabled cutting-edge materials research on supercomputers for over a decade. It scales nearly ideally but has low single-node efficiency due to the physics-based abstractions using array-of-structures objects, causing…

Time-inhomogeneous finite-horizon Markov decision processes (MDP) are frequently employed to model decision-making in dynamic treatment regimes and other statistical reinforcement learning (RL) scenarios. These fields, especially healthcare…

Many problems in machine learning can be solved by rounding the solution of an appropriate linear program (LP). This paper shows that we can recover solutions of comparable quality by rounding an approximate LP solution instead of the ex-…

Inverse problems, particularly those governed by Partial Differential Equations (PDEs), are prevalent in various scientific and engineering applications, and uncertainty quantification (UQ) of solutions to these problems is essential for…

To control humanoid robots, the reference pose of end effector(s) is planned in task space, then mapped into the reference joints by IK. By viewing that problem as approximate quadratic programming (QP), recent QP solvers can be applied to…

Model predictive control (MPC) provides a useful means for controlling systems with constraints, but suffers from the computational burden of repeatedly solving an optimization problem in real time. Offline (explicit) solutions for MPC…

This paper studies a fundamental problem in convex optimization, which is to solve semidefinite programming (SDP) with high accuracy. This paper follows from the existing robust SDP-based interior point method analysis due to [Huang, Jiang,…

We present a new continuous time solver for quantum impurity models such as those relevant to dynamical mean field theory. It is based on a stochastic sampling of a perturbation expansion in the impurity-bath hybridization parameter.…

Fast and accurate load parameters identification has great impact on the power systems operation and stability analysis. This paper proposes a novel transfer reinforcement learning based method to identify composite ZIP and induction motor…

A framework is proposed for solving general convex quadratic programs (CQPs) from an infeasible starting point by invoking an existing feasible-start algorithm tailored for inequality-constrained CQPs. The central tool is an exact penalty…