Uncertainty is prevalent in engineering design, statistical learning, and decision making broadly. Due to inherent risk-averseness and ambiguity about assumptions, it is common to address uncertainty by formulating and solving conservative optimization models expressed using measures of risk and related concepts. We survey the rapid development of risk measures over the last quarter century. From their beginning in financial engineering, we recount the spread to nearly all areas of engineering and applied mathematics. Solidly rooted in convex analysis, risk measures furnish a general framework for handling uncertainty with significant computational and theoretical advantages. We describe the key facts, list several concrete algorithms, and provide an extensive list of references for further reading. The survey recalls connections with utility theory and distributionally robust optimization, points to emerging applications areas such as fair machine learning, and defines measures of reliability.

We present estimators for smooth Hilbert-valued parameters, where smoothness is characterized by a pathwise differentiability condition. When the parameter space is a reproducing kernel Hilbert space, we provide a means to obtain efficient, root-n rate estimators and corresponding confidence sets. These estimators correspond to generalizations of cross-fitted one-step estimators based on Hilbert-valued efficient influence functions. We give theoretical guarantees even when arbitrary estimators of nuisance functions are used, including those based on machine learning techniques. We show that these results naturally extend to Hilbert spaces that lack a reproducing kernel, as long as the parameter has an efficient influence function. However, we also uncover the unfortunate fact that, when there is no reproducing kernel, many interesting parameters fail to have an efficient influence function, even though they are pathwise differentiable. To handle these cases, we propose a regularized one-step estimator and associated confidence sets. We also show that pathwise differentiability, which is a central requirement of our approach, holds in many cases. Specifically, we provide multiple examples of pathwise differentiable parameters and develop corresponding estimators and confidence sets. Among these examples, four are particularly relevant to ongoing research by the causal inference community: the counterfactual density function, dose-response function, conditional average treatment effect function, and counterfactual kernel mean embedding.

Nonlinear dynamics is a pervasive phenomenon observed in scientific and engineering disciplines. However, the task of deriving analytical expressions to describe nonlinear dynamics from limited data remains challenging. In this paper, we shall present a novel deep symbolic learning method called the "finite expression method" (FEX) to discover governing equations within a function space containing a finite set of analytic expressions, based on observed dynamic data. The key concept is to employ FEX to generate analytical expressions of the governing equations by learning the derivatives of partial differential equation (PDE) solutions through convolutions. Our numerical results demonstrate that our FEX surpasses other existing methods (such as PDE-Net, SINDy, GP, and SPL) in terms of numerical performance across a range of problems, including time-dependent PDE problems and nonlinear dynamical systems with time-varying coefficients. Moreover, the results highlight FEX's flexibility and expressive power in accurately approximating symbolic governing equations.

Sketch-and-project is a framework which unifies many known iterative methods for solving linear systems and their variants, as well as further extensions to non-linear optimization problems. It includes popular methods such as randomized Kaczmarz, coordinate descent, variants of the Newton method in convex optimization, and others. In this paper, we develop a theoretical framework for obtaining sharp guarantees on the convergence rate of sketch-and-project methods. Our approach is the first to: (1) show that the convergence rate improves at least linearly with the sketch size, and even faster when the data matrix exhibits certain spectral decays; and (2) allow for sparse sketching matrices, which are more efficient than dense sketches and more robust than sub-sampling methods. In particular, our results explain an observed phenomenon that a radical sparsification of the sketching matrix does not affect the per iteration convergence rate of sketch-and-project. To obtain our results, we develop new non-asymptotic spectral bounds for the expected sketched projection matrix, which are of independent interest; and we establish a connection between the convergence rates of iterative sketch-and-project solvers and the approximation error of randomized singular value decomposition, which is a widely used one-shot sketching algorithm for low-rank approximation. Our experiments support the theory and demonstrate that even extremely sparse sketches exhibit the convergence properties predicted by our framework.

We consider a class of non-smooth strongly convex-strongly concave saddle point problems in a decentralized setting without a central server. To solve a consensus formulation of problems in this class, we develop an inexact primal dual hybrid gradient (inexact PDHG) procedure that allows generic gradient computation oracles to update the primal and dual variables. We first investigate the performance of inexact PDHG with stochastic variance reduction gradient (SVRG) oracle. Our numerical study uncovers a significant phenomenon of initial conservative progress of iterates of IPDHG with SVRG oracle. To tackle this, we develop a simple and effective switching idea, where a generalized stochastic gradient (GSG) computation oracle is employed to hasten the iterates' progress to a saddle point solution during the initial phase of updates, followed by a switch to the SVRG oracle at an appropriate juncture. The proposed algorithm is named Decentralized Proximal Switching Stochastic Gradient method with Compression (C-DPSSG), and is proven to converge to an $\epsilon$-accurate saddle point solution with linear rate. Apart from delivering highly accurate solutions, our study reveals that utilizing the best convergence phases of GSG and SVRG oracles makes C-DPSSG well suited for obtaining solutions of low/medium accuracy faster, useful for certain applications. Numerical experiments on two benchmark machine learning applications show C-DPSSG's competitive performance which validate our theoretical findings. The codes used in the experiments can be found \href{https://github.com/chhavisharma123/C-DPSSG-CDC2023}{here}.

Ensuring safety and meeting temporal specifications are critical challenges for long-term robotic tasks. Signal temporal logic (STL) has been widely used to systematically and rigorously specify these requirements. However, traditional methods of finding the control policy under those STL requirements are computationally complex and not scalable to high-dimensional or systems with complex nonlinear dynamics. Reinforcement learning (RL) methods can learn the policy to satisfy the STL specifications via hand-crafted or STL-inspired rewards, but might encounter unexpected behaviors due to ambiguity and sparsity in the reward. In this paper, we propose a method to directly learn a neural network controller to satisfy the requirements specified in STL. Our controller learns to roll out trajectories to maximize the STL robustness score in training. In testing, similar to Model Predictive Control (MPC), the learned controller predicts a trajectory within a planning horizon to ensure the satisfaction of the STL requirement in deployment. A backup policy is designed to ensure safety when our controller fails. Our approach can adapt to various initial conditions and environmental parameters. We conduct experiments on six tasks, where our method with the backup policy outperforms the classical methods (MPC, STL-solver), model-free and model-based RL methods in STL satisfaction rate, especially on tasks with complex STL specifications while being 10X-100X faster than the classical methods.

Stochastic Programming is a framework for modelling and solving problems of decision making under uncertainty. Stochastic Dynamic Programming is a branch of Stochastic Programming that takes a "functional equation" approach to the discovery of optimal policies. By leveraging constructs - lambda expressions, functional interfaces, collections and aggregate operators - implemented in Java to operationalise the MapReduce framework, jsdp provides a general purpose library for modelling and solving Stochastic Dynamic Programs.

In recent years, there has been an intense debate about how learning in biological neural networks (BNNs) differs from learning in artificial neural networks. It is often argued that the updating of connections in the brain relies only on local information, and therefore a stochastic gradient-descent type optimization method cannot be used. In this paper, we study a stochastic model for supervised learning in BNNs. We show that a (continuous) gradient step occurs approximately when each learning opportunity is processed by many local updates. This result suggests that stochastic gradient descent may indeed play a role in optimizing BNNs.

Quantum-inspired Machine Learning (QiML) is a burgeoning field, receiving global attention from researchers for its potential to leverage principles of quantum mechanics within classical computational frameworks. However, current review literature often presents a superficial exploration of QiML, focusing instead on the broader Quantum Machine Learning (QML) field. In response to this gap, this survey provides an integrated and comprehensive examination of QiML, exploring QiML's diverse research domains including tensor network simulations, dequantized algorithms, and others, showcasing recent advancements, practical applications, and illuminating potential future research avenues. Further, a concrete definition of QiML is established by analyzing various prior interpretations of the term and their inherent ambiguities. As QiML continues to evolve, we anticipate a wealth of future developments drawing from quantum mechanics, quantum computing, and classical machine learning, enriching the field further. This survey serves as a guide for researchers and practitioners alike, providing a holistic understanding of QiML's current landscape and future directions.

Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection and surveillance. While the theoretical analysis of distributed optimization algorithms has received significant attention, its application to cooperative robotics has not been investigated in detail. In this paper, we show how notable scenarios in cooperative robotics can be addressed by suitable distributed optimization setups. Specifically, after a brief introduction on the widely investigated consensus optimization (most suited for data analytics) and on the partition-based setup (matching the graph structure in the optimization), we focus on two distributed settings modeling several scenarios in cooperative robotics, i.e., the so-called constraint-coupled and aggregative optimization frameworks. For each one, we consider use-case applications, and we discuss tailored distributed algorithms with their convergence properties. Then, we revise state-of-the-art toolboxes allowing for the implementation of distributed schemes on real networks of robots without central coordinators. For each use case, we discuss their implementation in these toolboxes and provide simulations and real experiments on networks of heterogeneous robots.