相关论文: Learning to Coordinate: Distributed Meta-Trajector…

We consider primal-dual algorithms for general empirical risk minimization problems in distributed settings, focusing on two prominent classes of algorithms. The first class is the communication-efficient distributed dual coordinate ascent…

This paper presents a novel distributed robust optimization scheme for steering distributions of multi-agent systems under stochastic and deterministic uncertainty. Robust optimization is a subfield of optimization which aims to discover an…

Recently, a number of learning-based optimization methods that combine data-driven architectures with the classical optimization algorithms have been proposed and explored, showing superior empirical performance in solving various ill-posed…

This paper presents centralized and distributed Alternating Direction Method of Multipliers (ADMM) frameworks for solving large-scale nonconvex optimization problems with binary decision variables subject to spanning tree or rooted…

In this paper, a distributed convex optimization algorithm, termed \emph{distributed coordinate dual averaging} (DCDA) algorithm, is proposed. The DCDA algorithm addresses the scenario of a large distributed optimization problem with…

This paper presents deep meta coordination graphs (DMCG) for learning cooperative policies in multi-agent reinforcement learning (MARL). Coordination graph formulations encode local interactions and accordingly factorize the joint value…

In this paper, we explore how to optimize task allocation for robot swarms in dynamic environments, emphasizing the necessity of formulating robust, flexible, and scalable strategies for robot cooperation. We introduce a novel framework…

Prompt engineering is crucial for fully leveraging large language models (LLMs), yet most existing optimization methods follow a single trajectory, resulting in limited adaptability, gradient conflicts, and high computational overhead. We…

Adaptive stochastic gradient methods such as AdaGrad have gained popularity in particular for training deep neural networks. The most commonly used and studied variant maintains a diagonal matrix approximation to second order information by…

Alternating Direction Method of Multipliers (ADMM) has recently been proposed as a potential alternative optimizer to the Stochastic Gradient Descent(SGD) for deep learning problems. This is because ADMM can solve gradient vanishing and…

We propose a distributed optimization method for solving a distributed model predictive consensus problem. The goal is to design a distributed controller for a network of dynamical systems to optimize a coupled objective function while…

Learning to learn has emerged as an important direction for achieving artificial intelligence. Two of the primary barriers to its adoption are an inability to scale to larger problems and a limited ability to generalize to new tasks. We…

Efficient aerial data collection is important in many remote sensing applications. In large-scale monitoring scenarios, deploying a team of unmanned aerial vehicles (UAVs) offers improved spatial coverage and robustness against individual…

Multi-agent reinforcement learning (MARL) has achieved significant progress in large-scale traffic control, autonomous vehicles, and robotics. Drawing inspiration from biological systems where roles naturally emerge to enable coordination,…

Effectively integrating Large Language Models (LLMs) into autonomous driving requires a balance between leveraging high-level reasoning and maintaining real-time efficiency. Existing approaches either activate LLMs too frequently, causing…

We propose a novel centralized and decoupled algorithm, DDM, for solving multi-robot path planning problems in grid graphs, targeting on-demand and automated warehouse-like settings. Two settings are studied: a traditional one whose…

In this paper, we propose a distributed algorithm, called Directed-Distributed Gradient Descent (D-DGD), to solve multi-agent optimization problems over directed graphs. Existing algorithms mostly deal with similar problems under the…

This paper presents a novel learning-based trajectory planning framework for quadrotors that combines model-based optimization techniques with deep learning. Specifically, we formulate the trajectory optimization problem as a quadratic…

Large foundation models enable powerful reasoning for autonomous systems, but mapping semantic intent to reliable real-time control remains challenging. Existing approaches either (i) let Large Language Models (LLMs) generate trajectories…

The problem of mixed static and dynamic obstacle avoidance is essential for path planning in highly dynamic environment. However, the paths formed by grid edges can be longer than the true shortest paths in the terrain since their headings…