相关论文: Robust and Efficient Embedded Convex Optimization …

In this letter, we present a versatile hierarchical offline planning algorithm, along with an online control pipeline for agile quadrupedal locomotion. Our offline planner alternates between optimizing centroidal dynamics for a…

Collaborative transportation of heavy payloads via loco-manipulation is a challenging yet essential capability for legged robots operating in complex, unstructured environments. Centralized planning methods, e.g., holistic trajectory…

The Versatile Video Coding (VVC) standard significantly improves compression efficiency over its predecessor, HEVC, but at the cost of substantially higher computational complexity, particularly in intra-frame prediction. This stage employs…

Model Predictive Control (MPC) is a powerful and flexible design tool of high-performance controllers for physical systems in the presence of input and output constraints. A challenge for the practitioner applying MPC is the need of tuning…

Trajectory optimization is becoming increasingly powerful in addressing motion planning problems of underactuated robotic systems. Numerous prior studies solve such a class of large non-convex optimal control problems in a hierarchical…

We consider empirical risk minimization of linear predictors with convex loss functions. Such problems can be reformulated as convex-concave saddle point problems, and thus are well suitable for primal-dual first-order algorithms. However,…

We consider the fundamental problem in non-convex optimization of efficiently reaching a stationary point. In contrast to the convex case, in the long history of this basic problem, the only known theoretical results on first-order…

In this paper, we propose a new stochastic alternating direction method of multipliers (ADMM) algorithm, which incrementally approximates the full gradient in the linearized ADMM formulation. Besides having a low per-iteration complexity as…

C-ADMM is a well-known distributed optimization framework due to its guaranteed convergence in convex optimization problems. Recently, C-ADMM has been studied in robotics applications such as multi-vehicle target tracking and collaborative…

The increasing demand for larger and higher fidelity simulations has made Adaptive Mesh Refinement (AMR) and unstructured mesh techniques essential to focus compute effort and memory cost on just the areas of interest in the simulation…

This paper considers the distributed optimization of a sum of locally observable, non-convex functions. The optimization is performed over a multi-agent networked system, and each local function depends only on a subset of the variables. An…

Transformers have emerged as the backbone of large language models (LLMs). However, generation remains inefficient due to the need to store in memory a cache of key-value representations for past tokens, whose size scales linearly with the…

We propose a computationally efficient Learning Model Predictive Control (LMPC) scheme for constrained optimal control of a class of nonlinear systems where the state and input can be reconstructed using lifted outputs. For the considered…

This paper presents new first-order methods for achieving optimal oracle complexities in convex optimization with convex functional constraints. Oracle complexities are measured by the number of function and gradient evaluations. To achieve…

In the past few years, Online Convex Optimization (OCO) has received notable attention in the control literature thanks to its flexible real-time nature and powerful performance guarantees. In this paper, we propose new step-size rules and…

In this paper we propose an efficient distributed algorithm for solving loosely coupled convex optimization problems. The algorithm is based on a primal-dual interior-point method in which we use the alternating direction method of…

We study fundamental graph problems such as graph connectivity, minimum spanning forest (MSF), and approximate maximum (weight) matching in a distributed setting. In particular, we focus on the Adaptive Massively Parallel Computation (AMPC)…

This paper proposes a task-oriented model predictive control (ToMPC) framework for safe and efficient robotic manipulation in open workspaces. The framework unifies collision-free motion and robot-environment interaction to address diverse…

Data-driven model predictive control (MPC) has demonstrated significant potential for improving robot control performance in the presence of model uncertainties. However, existing approaches often require extensive offline data collection…

We study the problems of distributed online and bandit convex optimization against an adaptive adversary. We aim to minimize the average regret on $M$ machines working in parallel over $T$ rounds with $R$ intermittent communications.…