Many practical applications of robotics require systems that can operate safely despite uncertainty. In the context of motion planning, two types of uncertainty are particularly important when planning safe robot trajectories. The first is environmental uncertainty -- uncertainty in the locations of nearby obstacles, stemming from sensor noise or (in the case of obstacles' future locations) prediction error. The second class of uncertainty is uncertainty in the robots own state, typically caused by tracking or estimation error. To achieve high levels of safety, it is necessary for robots to consider both of these sources of uncertainty. In this paper, we propose a risk-bounded trajectory optimization algorithm, known as Sequential Convex Optimization with Risk Optimization (SCORA), to solve chance-constrained motion planning problems despite both environmental uncertainty and tracking error. Through experiments in simulation, we demonstrate that SCORA significantly outperforms state-of-the-art risk-aware motion planners both in planning time and in the safety of the resulting trajectories.

Cutting planes (cuts) are important for solving mixed-integer linear programs (MILPs), which formulate a wide range of important real-world applications. Cut selection -- which aims to select a proper subset of the candidate cuts to improve the efficiency of solving MILPs -- heavily depends on (P1) which cuts should be preferred, and (P2) how many cuts should be selected. Although many modern MILP solvers tackle (P1)-(P2) by manually designed heuristics, machine learning offers a promising approach to learn more effective heuristics from MILPs collected from specific applications. However, many existing learning-based methods focus on learning which cuts should be preferred, neglecting the importance of learning the number of cuts that should be selected. Moreover, we observe from extensive empirical results that (P3) what order of selected cuts should be preferred has a significant impact on the efficiency of solving MILPs as well. To address this challenge, we propose a novel hierarchical sequence model (HEM) to learn cut selection policies via reinforcement learning. Specifically, HEM consists of a two-level model: (1) a higher-level model to learn the number of cuts that should be selected, (2) and a lower-level model -- that formulates the cut selection task as a sequence to sequence learning problem -- to learn policies selecting an ordered subset with the size determined by the higher-level model. To the best of our knowledge, HEM is the first method that can tackle (P1)-(P3) in cut selection simultaneously from a data-driven perspective. Experiments show that HEM significantly improves the efficiency of solving MILPs compared to human-designed and learning-based baselines on both synthetic and large-scale real-world MILPs, including MIPLIB 2017. Moreover, experiments demonstrate that HEM well generalizes to MILPs that are significantly larger than those seen during training.

The higher speed, scalability and parallelism offered by ReRAM crossbar arrays foster development of ReRAM-based next generation AI accelerators. At the same time, sensitivity of ReRAM to temperature variations decreases R_on/Roff ratio and negatively affects the achieved accuracy and reliability of the hardware. Various works on temperature-aware optimization and remapping in ReRAM crossbar arrays reported up to 58\% improvement in accuracy and 2.39$\times$ ReRAM lifetime enhancement. This paper classifies the challenges caused by thermal heat, starting from constraints in ReRAM cells' dimensions and characteristics to their placement in the architecture. In addition, it reviews available solutions designed to mitigate the impact of these challenges, including emerging temperature-resilient DNN training methods. Our work also provides a summary of the techniques and their advantages and limitations.

We propose a new stochastic primal-dual optimization algorithm for planning in a large discounted Markov decision process with a generative model and linear function approximation. Assuming that the feature map approximately satisfies standard realizability and Bellman-closedness conditions and also that the feature vectors of all state-action pairs are representable as convex combinations of a small core set of state-action pairs, we show that our method outputs a near-optimal policy after a polynomial number of queries to the generative model. Our method is computationally efficient and comes with the major advantage that it outputs a single softmax policy that is compactly represented by a low-dimensional parameter vector, and does not need to execute computationally expensive local planning subroutines in runtime. Keywords: Markov decision processes, Linear Programming, Linear function approximation, Planning with a generative model.

Molecular dynamics aims at simulating the physical movement of atoms in order to sample the Boltzmann-Gibbs probability measure and the associated trajectories, and to compute macroscopic properties using Monte Carlo estimates [17, 1]. One of the main difficulties when performing these numerical simulations is metastability: the system tends to stay trapped in some regions of the phase space, typically in the vicinity of local maxima of the target probability measure. In this context, transitions from one metastable state to another one are of particular interest in complex systems, as they characterize for example crystallisation or enzymatic reactions. These reactions happen on a long time scale compared to the molecular timescale, so that the simulation of realistic rare events is computationally difficult. On the one hand, many efforts have been devoted to the development of rare events sampling methods in molecular dynamics. The goal of these methods is to characterize transition paths and to compute associated transition rates and mean transition times; see for instance [21] for a review. The most notable methods can be classified in two groups: (i) importance sampling techniques, where the dynamics is biased (by modifying the potential for instance) to reduce the variance of Monte Carlo estimators when computing expectations, see for instance [16, 8] for more details, and also [31, Section 6.2]. It is possible to use adaptive importance sampling strategies to choose the importance function, see [30, Chapter 5]. Another viewpoint is offered by the framework of stochastic control, as in [21] where the modification in the drift of the dynamics is determined by the solution of an optimal control problem.

The continuous computational power growth in the last decades has made solving several optimization problems significant to humankind a tractable task; however, tackling some of them remains a challenge due to the overwhelming amount of candidate solutions to be evaluated, even by using sophisticated algorithms. In such a context, a set of nature-inspired stochastic methods, called meta-heuristic optimization, can provide robust approximate solutions to different kinds of problems with a small computational burden, such as derivative-free real function optimization. Nevertheless, these methods may converge to inadequate solutions if the function landscape is too harsh, e.g., enclosing too many local optima. Previous works addressed this issue by employing a hypercomplex representation of the search space, like quaternions, where the landscape becomes smoother and supposedly easier to optimize. Under this approach, meta-heuristic computations happen in the hypercomplex space, whereas variables are mapped back to the real domain before function evaluation. Despite this latter operation being performed by the Euclidean norm, we have found that after the optimization procedure has finished, it is usually possible to obtain even better solutions by employing the Minkowski $p$-norm instead and fine-tuning $p$ through an auxiliary sub-problem with neglecting additional cost and no hyperparameters. Such behavior was observed in eight well-established benchmarking functions, thus fostering a new research direction for hypercomplex meta-heuristic optimization.

Trustworthy machine learning aims at combating distributional uncertainties in training data distributions compared to population distributions. Typical treatment frameworks include the Bayesian approach, (min-max) distributionally robust optimization (DRO), and regularization. However, two issues have to be raised: 1) All these methods are biased estimators of the true optimal cost; 2) the prior distribution in the Bayesian method, the radius of the distributional ball in the DRO method, and the regularizer in the regularization method are difficult to specify. This paper studies a new framework that unifies the three approaches and that addresses the two challenges mentioned above. The asymptotic properties (e.g., consistency and asymptotic normalities), non-asymptotic properties (e.g., unbiasedness and generalization error bound), and a Monte--Carlo-based solution method of the proposed model are studied. The new model reveals the trade-off between the robustness to the unseen data and the specificity to the training data.

Neural networks (NNs) are known to be vulnerable against adversarial perturbations, and thus there is a line of work aiming to provide robustness certification for NNs, such as randomized smoothing, which samples smoothing noises from a certain distribution to certify the robustness for a smoothed classifier. However, as shown by previous work, the certified robust radius in randomized smoothing suffers from scaling to large datasets ("curse of dimensionality"). To overcome this hurdle, we propose a Double Sampling Randomized Smoothing (DSRS) framework, which exploits the sampled probability from an additional smoothing distribution to tighten the robustness certification of the previous smoothed classifier. Theoretically, under mild assumptions, we prove that DSRS can certify $\Theta(\sqrt d)$ robust radius under $\ell_2$ norm where $d$ is the input dimension, implying that DSRS may be able to break the curse of dimensionality of randomized smoothing. We instantiate DSRS for a generalized family of Gaussian smoothing and propose an efficient and sound computing method based on customized dual optimization considering sampling error. Extensive experiments on MNIST, CIFAR-10, and ImageNet verify our theory and show that DSRS certifies larger robust radii than existing baselines consistently under different settings. Code is available at https://github.com/llylly/DSRS.

Multi-task learning (MTL) aims at solving multiple related tasks simultaneously and has experienced rapid growth in recent years. However, MTL models often suffer from performance degeneration with negative transfer due to learning several tasks simultaneously. Some related work attributed the source of the problem is the conflicting gradients. In this case, it is needed to select useful gradient updates for all tasks carefully. To this end, we propose a novel optimization approach for MTL, named GDOD, which manipulates gradients of each task using an orthogonal basis decomposed from the span of all task gradients. GDOD decomposes gradients into task-shared and task-conflict components explicitly and adopts a general update rule for avoiding interference across all task gradients. This allows guiding the update directions depending on the task-shared components. Moreover, we prove the convergence of GDOD theoretically under both convex and non-convex assumptions. Experiment results on several multi-task datasets not only demonstrate the significant improvement of GDOD performed to existing MTL models but also prove that our algorithm outperforms state-of-the-art optimization methods in terms of AUC and Logloss metrics.

Pin fins are imperative in the cooling of turbine blades. The designs of pin fins, therefore, have seen significant research in the past. With the developments in metal additive manufacturing, novel design approaches toward complex geometries are now feasible. To that end, this article presents a Bayesian optimization approach for designing inline pins that can achieve low pressure loss. The pin-fin shape is defined using featurized (parametrized) piecewise cubic splines in 2D. The complexity of the shape is dependent on the number of splines used for the analysis. From a method development perspective, the study is performed using three splines. Owing to this piece-wise modeling, a unique pin fin design is defined using five features. After specifying the design, a computational fluid dynamics-based model is developed that computes the pressure drop during the flow. Bayesian optimization is carried out on a Gaussian processes-based surrogate to obtain an optimal combination of pin-fin features to minimize the pressure drop. The results show that the optimization tends to approach an aerodynamic design leading to low pressure drop corroborating with the existing knowledge. Furthermore, multiple iterations of optimizations are conducted with varying degree of input data. The results reveal that a convergence to similar optimal design is achieved with a minimum of just twenty five initial design-of-experiments data points for the surrogate. Sensitivity analysis shows that the distance between the rows of the pin fins is the most dominant feature influencing the pressure drop. In summary, the newly developed automated framework demonstrates remarkable capabilities in designing pin fins with superior performance characteristics.