Long-term non-prehensile planar manipulation is a challenging task for robot planning and feedback control. It is characterized by underactuation, hybrid control, and contact uncertainty. One main difficulty is to determine both the continuous and discrete contact configurations, e.g., contact points and modes, which requires joint logical and geometrical reasoning. To tackle this issue, we propose a demonstration-guided hierarchical optimization framework to achieve offline task and motion planning (TAMP). Our work extends the formulation of the dynamics model of the pusher-slider system to include separation mode with face switching mechanism, and solves a warm-started TAMP problem by exploiting human demonstrations. We show that our approach can cope well with the local minima problems currently present in the state-of-the-art solvers and determine a valid solution to the task. We validate our results in simulation and demonstrate its applicability on a pusher-slider system with a real Franka Emika robot in the presence of external disturbances.

The broad practical impact of deep learning has heightened interest in many of its surprising characteristics: simple gradient methods applied to deep neural networks seem to efficiently optimize nonconvex criteria, reliably giving a near-perfect fit to training data, but exhibiting good predictive accuracy nonetheless [see Bartlett et al., 2021]. Optimization methodology is widely believed to affect statistical performance by imposing some kind of implicit regularization, and there has been considerable effort devoted to understanding the behavior of optimization methods and the nature of solutions that they find. For instance, Barrett and Dherin [2020] and Smith et al. [2021] show that discrete-time gradient descent and stochastic gradient descent can be viewed as gradient flow methods applied to penalized losses that encourage smoothness, and Soudry et al. [2018] amd Azulay et al. [2021] identify the implicit regularization imposed by gradient flow in specific examples, including linear networks. We consider Sharpness-Aware Minimization (SAM), a recently introduced [Foret et al., 2021] gradient optimization method that has exhibited substantial improvements in prediction performance for deep networks applied to image classification [Foret et al., 2021] and NLP [Bahri et al., 2022] problems. Also affiliated with University of California, Berkeley.

Bayesian optimization (BayesOpt) is a powerful tool widely used for global optimization tasks, such as hyperparameter tuning, protein engineering, synthetic chemistry, robot learning, and even baking cookies. BayesOpt is a great strategy for these problems because they all involve optimizing black-box functions that are expensive to evaluate. A black-box function's underlying mapping from inputs (configurations of the thing we want to optimize) to outputs (a measure of performance) is unknown. However, we can attempt to understand its internal workings by evaluating the function for different combinations of inputs. Because each evaluation can be computationally expensive, we need to find the best inputs in as few evaluations as possible.

The goal of minimizing misclassification error on a training set is often just one of several real-world goals that might be defined on different datasets. For example, one may require a classifier to also make positive predictions at some specified rate for some subpopulation (fairness), or to achieve a specified empirical recall. Other real-world goals include reducing churn with respect to a previously deployed model, or stabilizing online training. In this paper we propose handling multiple goals on multiple datasets by training with dataset constraints, using the ramp penalty to accurately quantify costs, and present an efficient algorithm to approximately optimize the resulting non-convex constrained optimization problem. Experiments on both benchmark and real-world industry datasets demonstrate the effectiveness of our approach.

We consider the problem of jointly inferring the M-best diverse labelings for a binary (high-order) submodular energy of a graphical model. Recently, it was shown that this problem can be solved to a global optimum, for many practically interesting diversity measures. It was noted that the labelings are, so-called, nested. This nestedness property also holds for labelings of a class of parametric submodular minimization problems, where different values of the global parameter γ give rise to different solutions. The popular example of the parametric submodular minimization is the monotonic parametric max-flow problem, which is also widely used for computing multiple labelings.

Deep neural networks (DNNs) have substantial computational and memory requirements, and the compilation of its computational graphs has a great impact on the performance of resource-constrained (e.g., computation, I/O, and memory-bound) edge computing systems. While efficient execution of their computational graph requires an effective scheduling algorithm, generating the optimal scheduling solution is a challenging NP-hard problem. Furthermore, the complexity of scheduling DNN computational graphs will further increase on pipelined multi-core systems considering memory communication cost, as well as the increasing size of DNNs. Using the synthetic graph for the training dataset, this work presents a reinforcement learning (RL) based scheduling framework RESPECT, which learns the behaviors of optimal optimization algorithms and generates near-optimal scheduling results with short solving runtime overhead. Our framework has demonstrated up to $\sim2.5\times$ real-world on-chip inference runtime speedups over the commercial compiler with ten popular ImageNet models deployed on the physical Coral Edge TPUs system. Moreover, compared to the exact optimization methods, the proposed RL scheduling improves the scheduling optimization runtime by up to 683$\times$ speedups compared to the commercial compiler and matches the exact optimal solutions with up to 930$\times$ speedups. Finally, we perform a comprehensive generalizability test, which demonstrates RESPECT successfully imitates optimal solving behaviors from small synthetic graphs to large real-world DNNs computational graphs.

Despite the potential benefits of machine learning (ML) in high-risk decision-making domains, the deployment of ML is not accessible to practitioners, and there is a risk of discrimination. To establish trust and acceptance of ML in such domains, democratizing ML tools and fairness consideration are crucial. In this paper, we introduce FairPilot, an interactive system designed to promote the responsible development of ML models by exploring a combination of various models, different hyperparameters, and a wide range of fairness definitions. We emphasize the challenge of selecting the ``best" ML model and demonstrate how FairPilot allows users to select a set of evaluation criteria and then displays the Pareto frontier of models and hyperparameters as an interactive map. FairPilot is the first system to combine these features, offering a unique opportunity for users to responsibly choose their model.

To mitigate the impact of the pandemic, several measures include lockdowns, rapid vaccination programs, school closures, and economic stimulus. These interventions can have positive or unintended negative consequences. Current research to model and determine an optimal intervention automatically through round-tripping is limited by the simulation objectives, scale (a few thousand individuals), model types that are not suited for intervention studies, and the number of intervention strategies they can explore (discrete vs continuous). We address these challenges using a Deep Deterministic Policy Gradient (DDPG) based policy optimization framework on a large-scale (100,000 individual) epidemiological agent-based simulation where we perform multi-objective optimization. We determine the optimal policy for lockdown and vaccination in a minimalist age-stratified multi-vaccine scenario with a basic simulation for economic activity. With no lockdown and vaccination (mid-age and elderly), results show optimal economy (individuals below the poverty line) with balanced health objectives (infection, and hospitalization). An in-depth simulation is needed to further validate our results and open-source our framework.

Submodular function optimization has numerous applications in machine learning and data analysis, including data summarization which aims to identify a concise and diverse set of data points from a large dataset. It is important to implement fairness-aware algorithms when dealing with data items that may contain sensitive attributes like race or gender, to prevent biases that could lead to unequal representation of different groups. With this in mind, we investigate the problem of maximizing a monotone submodular function while meeting group fairness constraints. Unlike previous studies in this area, we allow for randomized solutions, with the objective being to calculate a distribution over feasible sets such that the expected number of items selected from each group is subject to constraints in the form of upper and lower thresholds, ensuring that the representation of each group remains balanced in the long term. Here a set is considered feasible if its size does not exceed a constant value of $b$. Our research includes the development of a series of approximation algorithms for this problem.

In this paper we develop accelerated first-order methods for convex optimization with locally Lipschitz continuous gradient (LLCG), which is beyond the well-studied class of convex optimization with Lipschitz continuous gradient. In particular, we first consider unconstrained convex optimization with LLCG and propose accelerated proximal gradient (APG) methods for solving it. The proposed APG methods are equipped with a verifiable termination criterion and enjoy an operation complexity of ${\cal O}(\varepsilon^{-1/2}\log \varepsilon^{-1})$ and ${\cal O}(\log \varepsilon^{-1})$ for finding an $\varepsilon$-residual solution of an unconstrained convex and strongly convex optimization problem, respectively. We then consider constrained convex optimization with LLCG and propose an first-order proximal augmented Lagrangian method for solving it by applying one of our proposed APG methods to approximately solve a sequence of proximal augmented Lagrangian subproblems. The resulting method is equipped with a verifiable termination criterion and enjoys an operation complexity of ${\cal O}(\varepsilon^{-1}\log \varepsilon^{-1})$ and ${\cal O}(\varepsilon^{-1/2}\log \varepsilon^{-1})$ for finding an $\varepsilon$-KKT solution of a constrained convex and strongly convex optimization problem, respectively. All the proposed methods in this paper are parameter-free or almost parameter-free except that the knowledge on convexity parameter is required. In addition, preliminary numerical results are presented to demonstrate the performance of our proposed methods. To the best of our knowledge, no prior studies were conducted to investigate accelerated first-order methods with complexity guarantees for convex optimization with LLCG. All the complexity results obtained in this paper are new.