Publications related to Convergence rates of moment-sum-of-squares hierarchies for optimal control problems

Distributionally Robust Linear Quadratic Control

Daniel Kuhn, Cagil Kocyigit, Bahar Taskesen

Linear-Quadratic-Gaussian (LQG) control is a fundamental control paradigm that is studied in various fields such as engineering, computer science, economics, and neuroscience. It involves controlling a system with linear dynamics and imperfect observations ...

2023

Outlier-free spline spaces for isogeometric discretizations of biharmonic and polyharmonic eigenvalue problems

Espen Sande

We present outlier-free isogeometric Galerkin discretizations of eigenvalue problems related to the biharmonic and the polyharmonic operator in the univariate setting. These are Galerkin discretizations in certain spline subspaces that provide accurate app ...

Elsevier Science Sa2023

Dual Approach for Two-Stage Robust Nonlinear Optimization

Jianzhe Zhen

Adjustable robust minimization problems where the objective or constraints depend in a convex way on the adjustable variables are generally difficult to solve. In this paper, we reformulate the original adjustable robust nonlinear problem with a polyhedral ...

INFORMS2022

Optimal Control Combining Emulation and Imitation to Acquire Physical Assistance Skills

Sylvain Calinon, Teguh Santoso Lembono, Amirreza Razmjoo Fard

paper studies exploiting action-level learning (imitation) in the optimal control problem context. Cost functions defined by the optimal control methods are similar to the goal-level learning (emulation) in animals. However, imitating the robot's or others ...

IEEE2021

Optimal Policies for Age and Distortion in a Discrete-Time Model

Emre Telatar, Reka Inovan, Yunus Inan

We propose a simple model to study the tradeoff between timeliness and distortion, where different pieces of data have a different cost of not being sent. We pose the question of finding the optimal tradeoff as a policy design problem amenable to dynamic p ...

IEEE2021

Optimal Thrust Vector Control of an Electric Small-Scale Rocket Prototype

Colin Neil Jones, Petr Listov, Roland Schwan

Recent advances in Model Predictive Control (MPC) algorithms and methodologies, combined with the surge of computational power of available embedded platforms, allows the use of real-time optimization-based control of fast mechatronic systems. This paper p ...

IEEE2022

Whole Body Model Predictive Control with a Memory of Motion: Experiments on a Torque-Controlled Talos

Sylvain Calinon, Rohan Budhiraja, Teguh Santoso Lembono

This paper presents the first successful experiment implementing whole-body model predictive control with state feedback on a torque-control humanoid robot. We demonstrate that our control scheme is able to do whole-body target tracking, control the balanc ...

IEEE2021

Complexity analysis of stochastic gradient methods for PDE-constrained optimal control problems with uncertain parameters

Fabio Nobile, Matthieu Claude Martin, Sebastian Krumscheid

We consider the numerical approximation of an optimal control problem for an elliptic Partial Differential Equation (PDE) with random coefficients. Specifically, the control function is a deterministic, distributed forcing term that minimizes the expected ...

2021

Last iterate convergence of SGD for Least-Squares in the Interpolation regime

Aditya Vardhan Varre, Nicolas Henri Bernard Flammarion, Loucas Pillaud-Vivien

Motivated by the recent successes of neural networks that have the ability to fit the data perfectly \emph{and} generalize well, we study the noiseless model in the fundamental least-squares setup. We assume that an optimum predictor fits perfectly inputs ...

Advances in Neural Information Processing Systems 20212021

Regularity and sparse approximation of the recursive first moment equations for the lognormal Darcy problem

Fabio Nobile, Francesca Bonizzoni

We study the Darcy boundary value problem with lognormal permeability field. We adopt a perturbation approach, expanding the solution in Taylor series around the nominal value of the coefficient, and approximating the expected value of the stochastic solut ...

2020

Integrating the Finite Element Method with a Data-Driven Approach for Dam Displacement Prediction

Zhenzhu Meng, Chenfei Shao, Yating Hu

Both numerical simulations and data-driven methods have been applied in dam's displacement modeling. For monitored displacement data-driven methods, the physical mechanism and structural correlations were rarely discussed. In order to take the spatial and ...

2020

Novel corrector problems with exponential decay of the resonance error for numerical homogenization

Edoardo Paganoni

Multiscale problems, such as modelling flows through porous media or predicting the mechanical properties of composite materials, are of great interest in many scientific areas. Analytical models describing these phenomena are rarely available, and one mus ...

EPFL2020

Effect of fibre orientation and bulk modulus on the electromechanical modelling of human ventricles

Alfio Quarteroni, Antonello Gerbi, Luca Azzolin

This work concerns the mathematical and numerical modeling of the heart. The aim is to enhance the understanding of the cardiac function in both physiological and pathological conditions. Along this road, a challenge arises from the multi-scale and multi-p ...

2020

Finding Second-Order Stationary Points in Constrained Minimization: A Feasible Direction Approach

Shaul Nadav Hallak

This paper introduces a method for computing points satisfying the second-order necessary optimality conditions for nonconvex minimization problems subject to a closed and convex constraint set. The method comprises two independent steps corresponding to t ...

SPRINGER/PLENUM PUBLISHERS2020

Convergences of Regularized Algorithms and Stochastic Gradient Methods with Random Projections

Volkan Cevher, Junhong Lin

We study the least-squares regression problem over a Hilbert space, covering nonparametric regression over a reproducing kernel Hilbert space as a special case. We rst investigate regularized algorithms adapted to a projection operator on a closed subspace ...

2020

Markov cubature rules for polynomial processes

Damir Filipovic, Martin Larsson, Sergio Andres Pulido Nino

We study discretizations of polynomial processes using finite state Markov processes satisfying suitable moment matching conditions. The states of these Markov processes together with their transition probabilities can be interpreted as Markov cubature rul ...

ELSEVIER2020

A p-weighted limiter for the discontinuous Galerkin method on one-dimensional and two-dimensional triangular grids

Qian Wang, Qian Wang

This paper presents an accuracy-preserving p-weighted limiter for discontinuous Galerkin methods on one-dimensional and two-dimensional triangular grids. The p-weighted limiter is the extension of the second-order WENO limiter by Li et al. [W. Li, J. Pan a ...

2020

A saddle point approach to an optimal boundary control problem for steady Navier-Stokes equations

Alfio Quarteroni, Andrea Manzoni

In this paper we propose a saddle point approach to solve boundary control problems for the steady Navier-Stokes equations with mixed Dirichlet-Neumann boundary conditions, both in two and three dimensions. We provide a comprehensive theoretical framework ...

2019

Exact Diffusion for Distributed Optimization and Learning-Part II: Convergence Analysis

Ali H. Sayed, Bicheng Ying, Kun Yuan

Part I of this paper developed the exact diffusion algorithm to remove the bias that is characteristic of distributed solutions for deterministic optimization problems. The algorithm was shown to be applicable to the larger set of locally balanced left-sto ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2019

Distributed Value-Function Learning with Linear Convergence Rates

Ali H. Sayed, Kun Yuan, Lucas Cesar Eduardo Cassano

In this paper we develop a fully decentralized algorithm for policy evaluation with off-policy learning and linear function approximation. The proposed algorithm is of the variance reduced kind and achieves linear convergence with O(1) memory requirements. ...

IEEE2019