相关论文: A Framework for Combining Optimization-Based and A…
Selecting the best hyperparameters for a particular optimization instance, such as the learning rate and momentum, is an important but nonconvex problem. As a result, iterative optimization methods such as hypergradient descent lack global…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
Recent results in control systems and numerical integration literature utilize invariant set theory to lift dynamical systems evolving on nonlinear manifolds to those evolving on vector spaces. We leverage this technique to propose an…
In this paper, we study various theoretical properties of a class of prioritized inverse kinematics (PIK) solutions that can be considered as a class of (output regulation or tracking) control laws of a dynamical system with prioritized…
A new approach to combinatorial optimization based on systematic move-class deflation is proposed. The algorithm combines heuristics of genetic algorithms and simulated annealing, and is mainly entropy-driven. It is tested on two problems…
This paper presents a novel contact-implicit trajectory optimization method using an analytically solvable contact model to enable planning of interactions with hard, soft, and slippery environments. Specifically, we propose a novel contact…
In this work, we propose different formulations and gradient-based algorithms for deterministic and stochastic bilevel problems with conflicting objectives in the lower level. Such problems have received little attention in the…
In this article, we propose a novel regularization method for a class of nonlinear inverse problems that is inspired by an application in quantitative magnetic resonance imaging (qMRI). The latter is a special instance of a general…
Consider the linear equation $\mathbf{A}\mathbf{x}=\mathbf{y}$, where $\mathbf{A}$ is a $k\times N$-matrix, $\mathbf{x}\in\mathcal{K}\subset \mathbb{R}^N$ and $\mathbf{y}\in\mathbb{R}^M$ a given vector. When $\mathcal{K}$ is a convex set…
We consider the problem of consistently matching multiple sets of elements to each other, which is a common task in fields such as computer vision. To solve the underlying NP-hard objective, existing methods often relax or approximate it,…
Ising machines (IM) are physics-inspired alternatives to von Neumann architectures for solving hard optimization tasks. By mapping binary variables to coupled Ising spins, IMs can naturally solve unconstrained combinatorial optimization…
In this paper we analyze several new methods for solving nonconvex optimization problems with the objective function formed as a sum of two terms: one is nonconvex and smooth, and another is convex but simple and its structure is known.…
In recent years, numerous vision and learning tasks have been (re)formulated as nonconvex and nonsmooth programmings(NNPs). Although some algorithms have been proposed for particular problems, designing fast and flexible optimization…
Mixed-Integer Quadratic Programming (MIQP) has been identified as a suitable approach for finding an optimal solution to the behavior planning problem with low runtimes. Logical constraints and continuous equations are optimized alongside.…
Robotics is shifting from rigid, articulated systems to more sophisticated and heterogeneous mechanical structures. Soft robots, for example, have continuously deformable elements capable of large deformations. The flourishing of control…
A prioritized inverse kinematics (PIK) solution can be considered as a (regulation or output tracking) control law of a dynamical system with prioritized multiple outputs. We propose a method that guarantees that a joint trajectory…
This paper proposes several novel optimization algorithms for minimizing a nonlinear objective function. The algorithms are enlightened by the optimal state trajectory of an optimal control problem closely related to the minimized objective…
Regularization and interior point approaches offer valuable perspectives to address constrained nonlinear optimization problems in view of control applications. This paper discusses the interactions between these techniques and proposes an…
We propose a new regularisation strategy for the classical ensemble Kalman inversion (EKI) framework. The strategy consists of: (i) an adaptive choice for the regularisation parameter in the update formula in EKI, and (ii) criteria for the…
This paper continues earlier work and is concerned with the inverse problem of parameter identification in variational inequalities of the second kind that does not only treat the parameter linked to a bilinear form, but importantly also…