相关论文: ODE Methods for Computing One-Dimensional Self-Mot…

We are interested in the numerical solution of coupled nonlinear partial differential equations (PDEs) in two and three dimensions. Under certain assumptions on the domain, we take advantage of the Kronecker structure arising in standard…

Robotic manipulators are often designed with more actuated degrees-of-freedom than required to fully control an end effector's position and orientation. These "redundant" manipulators can allow infinite joint configurations that satisfy a…

The theory of slow invariant manifolds (SIMs) is the foundation of various model-order reduction techniques for dissipative dynamical systems with multiple time-scales, e.g. in chemical kinetic models. The construction of SIMs and many…

The theory of spectral submanifolds (SSMs) has emerged as a powerful tool for constructing rigorous, low-dimensional reduced-order models (ROMs) of high-dimensional nonlinear mechanical systems. A direct computation of SSMs requires…

We use invariant manifold results on Banach spaces to conclude the existence of spectral submanifolds (SSMs) in a class of nonlinear, externally forced beam oscillations. SSMs are the smoothest nonlinear extensions of spectral subspaces of…

We investigate the minimization of a quadratic function over Stiefel manifolds (the set of all orthogonal $r$- frames in $\mathbf{R}^n$), which has applications in high-dimensional semi-supervised classification tasks. To reduce the…

We consider the optimization problem with a generally quadratic matrix constraint of the form $X^TAX = J$, where $A$ is a given nonsingular, symmetric $n\times n$ matrix and $J$ is a given $k\times k$ symmetric matrix, with $k\leq n$,…

Computing optimal, collision-free trajectories for high-dimensional systems is a challenging problem. Sampling-based planners struggle with the dimensionality, whereas trajectory optimizers may get stuck in local minima due to inherent…

This paper develops an adaptive proximal alternating direction method of multipliers (ADMM) for solving linearly constrained, composite optimization problems under the assumption that the smooth component of the objective is weakly convex,…

A new method for solving numerically stochastic partial differential equations (SPDEs) with multiple scales is presented. The method combines a spectral method with the heterogeneous multiscale method (HMM) presented in [W. E, D. Liu, and…

We present a physics-informed machine-learning (PIML) approach for the approximation of slow invariant manifolds (SIMs) of singularly perturbed systems, providing functionals in an explicit form that facilitate the construction and…

We develop a systematic framework for the spin adaptation of the cumulants of p-particle reduced density matrices (RDMs), with explicit constructions for p = 1 to 3. These spin-adapted cumulants enable rigorous treatment of both S_z and S^2…

In numerous robotics and mechanical engineering applications, among others, data is often constrained on smooth manifolds due to the presence of rotational degrees of freedom. Common datadriven and learning-based methods such as neural…

We consider a discrete-time formulation for a class of high-dimensional stochastic joint replenishment problems. First, we approximate the problem by a continuous-time impulse control problem. Exploiting connections among the impulse…

We study SMT problems over the reals containing ordinary differential equations. They are important for formal verification of realistic hybrid systems and embedded software. We develop delta-complete algorithms for SMT formulas that are…

We study asymptotics of the eigenvalues and eigenfunctions of the operators used for constructing multidimensional scaling (MDS) on compact connected Riemannian manifolds, in particular on closed connected symmetric spaces. They are the…

Many recent studies on first-order methods (FOMs) focus on \emph{composite non-convex non-smooth} optimization with linear and/or nonlinear function constraints. Upper (or worst-case) complexity bounds have been established for these…

Background The development of a simulation model of full body reaching tasks that can predict endeffector trajectories and joint excursions consistent with experimental data is a non-trivial task. Because of the kinematic redundancy…

Optimization with orthogonality constraints frequently arises in various fields such as machine learning. Riemannian optimization offers a powerful framework for solving these problems by equipping the constraint set with a Riemannian…

We show how the recent extension of spectral submanifold (SSM) theory to delay differential equations (DDEs) enables data-driven model reduction of nonlinear delay systems. First, using a scalar DDE with a single discrete delay, we compare…