-- In this work, to facilitate the real-time processing of multi-scan registration error minimization on factor graphs, we devise a point cloud downsampling algorithm based on coreset extraction. This algorithm extracts a subset of the residuals of input points such that the subset yields exactly the same quadratic error function as that of the original set for a given pose. This enables a significant reduction in the number of residuals to be evaluated without approximation errors at the sampling point. Using this algorithm, we devise a complete SLAM framework that consists of odometry estimation based on sliding window optimization and global trajectory optimization based on registration error minimization over the entire map, both of which can run in real time on a standard CPU. The experimental results demonstrate that the proposed framework outperforms state-of-the-art CPU-based SLAM frameworks without the use of GPU acceleration. Point cloud SLAM algorithms that directly compute and minimize point cloud registration errors on factor graphs have been gaining attention due to their precision and robustness. Methods such as odometry estimation with sliding window optimization [1], global trajectory optimization via global registration error minimization [2], and LiDAR-bundle adjustment [3] excel in optimizing sensor poses to maximize the consistency between multiple point clouds. They offer more accurate and reliable estimations compared to those obtained using traditional approaches such as filtering-based odometry estimation [4] and global trajectory optimization using relative pose constraints [5].

When synthesizing multisource high-dimensional data, a key objective is to extract low-dimensional feature representations that effectively approximate the original features across different sources. Such general feature extraction facilitates the discovery of transferable knowledge, mitigates systematic biases such as batch effects, and promotes fairness. In this paper, we propose Stable Principal Component Analysis (StablePCA), a novel method for group distributionally robust learning of latent representations from high-dimensional multi-source data. A primary challenge in generalizing PCA to the multi-source regime lies in the nonconvexity of the fixed rank constraint, rendering the minimax optimization nonconvex. To address this challenge, we employ the Fantope relaxation, reformulating the problem as a convex minimax optimization, with the objective defined as the maximum loss across sources. To solve the relaxed formulation, we devise an optimistic-gradient Mirror Prox algorithm with explicit closed-form updates. Theoretically, we establish the global convergence of the Mirror Prox algorithm, with the convergence rate provided from the optimization perspective. Furthermore, we offer practical criteria to assess how closely the solution approximates the original nonconvex formulation. Through extensive numerical experiments, we demonstrate StablePCA's high accuracy and efficiency in extracting robust low-dimensional representations across various finite-sample scenarios.

The Edge Assembly Crossover (EAX) algorithm is the state-of-the-art heuristic for solving the Traveling Salesperson Problem (TSP). It regularly outperforms other methods, such as the Lin-Kernighan-Helsgaun heuristic (LKH), across diverse sets of TSP instances. Essentially, EAX employs a two-stage mechanism that focuses on improving the current solutions, first, at the local and, subsequently, at the global level. Although the second phase of the algorithm has been thoroughly studied, configured, and refined in the past, in particular, its first stage has hardly been examined. In this paper, we thus focus on the first stage of EAX and introduce a novel method that quickly verifies whether the AB-cycles, generated during its internal optimization procedure, yield valid tours -- or whether they need to be repaired. Knowledge of the latter is also particularly relevant before applying other powerful crossover operators such as the Generalized Partition Crossover (GPX). Based on our insights, we propose and evaluate several improved versions of EAX. According to our benchmark study across 10 000 different TSP instances, the most promising of our proposed EAX variants demonstrates improved computational efficiency and solution quality on previously rather difficult instances compared to the current state-of-the-art EAX algorithm.

Nonlinear dynamical systems are complex and typically only simple systems can be analytically studied. In applications, these systems are usually defined with a set of tunable parameters and as the parameters are varied the system response undergoes significant topological changes or bifurcations. In a high dimensional parameter space, it is difficult to determine which direction to vary the system parameters to achieve a desired system response or state. In this paper, we introduce a new approach for optimally navigating a dynamical system parameter space that is rooted in topological data analysis. Specifically we use the differentiability of persistence diagrams to define a topological language for intuitively promoting or deterring different topological features in the state space response of a dynamical system and use gradient descent to optimally move from one point in the parameter space to another. The end result is a path in this space that guides the system to a set of parameters that yield the desired topological features defined by the loss function. We show a number of examples by applying the methods to different dynamical systems and scenarios to demonstrate how to promote different features and how to choose the hyperparameters to achieve different outcomes.

The safety of training task policies and their subsequent application using reinforcement learning (RL) methods has become a focal point in the field of safe RL. A central challenge in this area remains the establishment of theoretical guarantees for safety during both the learning and deployment processes. Given the successful implementation of Control Barrier Function (CBF)-based safety strategies in a range of control-affine robotic systems, CBF-based safe RL demonstrates significant promise for practical applications in real-world scenarios. However, integrating these two approaches presents several challenges. First, embedding safety optimization within the RL training pipeline requires that the optimization outputs be differentiable with respect to the input parameters, a condition commonly referred to as differentiable optimization, which is non-trivial to solve. Second, the differentiable optimization framework confronts significant efficiency issues, especially when dealing with multi-constraint problems. To address these challenges, this paper presents a CBF-based safe RL architecture that effectively mitigates the issues outlined above. The proposed approach constructs a continuous AND logic approximation for the multiple constraints using a single composite CBF. By leveraging this approximation, a close-form solution of the quadratic programming is derived for the policy network in RL, thereby circumventing the need for differentiable optimization within the end-to-end safe RL pipeline. This strategy significantly reduces computational complexity because of the closed-form solution while maintaining safety guarantees. Simulation results demonstrate that, in comparison to existing approaches relying on differentiable optimization, the proposed method significantly reduces training computational costs while ensuring provable safety throughout the training process.

Y et, their performance and scalability often hinge on effective parameter optimization, which remains nontrivial due to rugged energy landscapes and hardware noise. In this work, we introduce a quantum meta-learning framework that combines quantum neural networks, specifically Quantum Long Short-T erm Memory (QLSTM) architectures, with QAOA. By training the QLSTM optimizer on smaller graph instances, our approach rapidly generalizes to larger, more complex problems, substantially reducing the number of iterations required for convergence. Through comprehensive benchmarks on Max-Cut and Sherrington-Kirkpatrick model instances, we demonstrate that QLSTM-based optimizers converge faster and achieve higher approximation ratios compared to classical baselines, thereby offering a robust pathway toward scalable quantum optimization in the NISQ era.

Modular robots have the potential to revolutionize automation as one can optimize their composition for any given task. However, finding optimal compositions is non-trivial. In addition, different compositions require different base positions and trajectories to fully use the potential of modular robots. We address this problem holistically for the first time by jointly optimizing the composition, base placement, and trajectory, to minimize the cycle time of a given task. Our approach is evaluated on over 300 industrial benchmarks requiring point-to-point movements. Overall, we reduce cycle time by up to 25% and find feasible solutions in twice as many benchmarks compared to optimizing the module composition alone. In the first real-world validation of modular robots optimized for point-to-point movement, we find that the optimized robot is successfully deployed in nine out of ten cases in less than an hour.

We present the first theoretical guarantees for zero constraint violation in Online Convex Optimization (OCO) across all rounds, addressing dynamic constraint changes. Unlike existing approaches in constrained OCO, which allow for occasional safety breaches, we provide the first approach for maintaining strict safety under the assumption of gradually evolving constraints, namely the constraints change at most by a small amount between consecutive rounds. This is achieved through a primal-dual approach and Online Gradient Ascent in the dual space. We show that employing a dichotomous learning rate enables ensuring both safety, via zero constraint violation, and sublinear regret. Our framework marks a departure from previous work by providing the first provable guarantees for maintaining absolute safety in the face of changing constraints in OCO.

Transformer-based large language models (LLMs) have achieved remarkable success across various tasks. Yet, fine-tuning such massive models in federated learning (FL) settings poses significant challenges due to resource constraints and communication overhead. Low-Rank Adaptation (LoRA) addresses these issues by training compact, low-rank matrices instead of fully fine-tuning large models. This paper introduces a wireless federated LoRA fine-tuning framework that optimizes both learning performance and communication efficiency. We provide a novel convergence analysis, revealing how LoRA rank and covariance effects influence FL training dynamics. Leveraging these insights, we propose Sparsified Orthogonal Fine-Tuning (\textbf{SOFT}), an adaptive sparsification method that streamlines parameter updates without expensive matrix multiplications and singular value decomposition (SVD) operations. Additionally, we present a Two Stage Federated Algorithm (\textbf{TSFA}) algorithm that pre-determines key parameters offline and dynamically adjusts bandwidth and sparsification online, ensuring efficient training under latency constraints. Experiments on benchmark datasets show that our approach achieves accuracy comparable to ideal scenario models while significantly reducing communication overhead. Our framework thus enables scalable, resource-efficient deployment of large models in real-world wireless FL scenarios.

--Large artificial intelligence models (LAMs) possess human-like abilities to solve a wide range of real-world problems, exemplifying the potential of experts in various domains and modalities. By leveraging the communication and computation capabilities of geographically dispersed edge devices, edge LAM emerges as an enabling technology to empower the delivery of various real-time intelligent services in 6G. Unlike traditional edge artificial intelligence (AI) that primarily supports a single task using small models, edge LAM is featured by the need of the decomposition and distributed deployment of large models, and the ability to support highly generalized and diverse tasks. However, due to limited communication, computation, and storage resources over wireless networks, the vast number of trainable neurons and the substantial communication overhead pose a formidable hurdle to the practical deployment of edge LAMs. In this paper, we investigate the opportunities and challenges of edge LAMs from the perspectives of model decomposition and resource management. Specifically, we propose collaborative fine-tuning and full-parameter training frameworks, alongside a microservice-assisted inference architecture, to enhance the deployment of edge LAM over wireless networks. Additionally, we investigate the application of edge LAM in air-interface designs, focusing on channel prediction and beamforming. These innovative frameworks and applications offer valuable insights and solutions for advancing 6G technology. With the remarkable advancement in artificial intelligence (AI), large AI models (LAMs) now excel at performing real-world complex tasks.