Abstract--Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact with and further change the environment. Existing work often assumes a set of predefined pushing modes and fixed-shape objects. This work tackles the general problem of controlling a robotic fleet to push collaboratively numerous arbitrary objects to respective destinations, within complex environments of cluttered and movable obstacles. It incorporates several characteristic challenges for multi-robot systems such as online task coordination under large uncertainties of cost and duration, and for contact-rich tasks such as hybrid switching among different contact modes, and under-actuation due to constrained contact forces. The proposed method is based on combinatorial hybrid optimization over dynamic task assignments and hybrid execution via sequences of pushing modes and associated forces. It consists of three main components: (I) the decomposition, ordering and rolling assignment of pushing subtasks to robot subgroups; (II) the keyframe guided hybrid search to optimize the sequence of parameterized pushing modes for each subtask; (III) the hybrid control to execute these modes and transit among them. Last but not least, a diffusion-based accelerator is adopted to predict the keyframes and pushing modes that should be prioritized during hybrid search; and further improve planning efficiency. The framework is complete under mild assumptions. Its efficiency and effectiveness under different numbers of robots and general-shaped objects are validated extensively in simulations and hardware experiments, as well as generalizations to heterogeneous robots, planar assembly and 6D pushing. Humans often interact with objects via non-prehensile skills such as pushing and rolling, especially when prehensile skills such as stable grasping is infeasible. This aspect is however less exploited in robotic systems. Most existing work treats pushing as a complementary skill to pick-and-place primitives for a single manipulator within simple environments, e.g., [1], [2], [3], [4]. Nonetheless, pushing can be particularly beneficial for low-cost mobile robots that are not equipped with a manipulator, e.g., ground vehicles, quadruped robots, and even underwater vehicles [5]. For instance, obstacles can be pushed out of the path, and target objects can be pushed to desired positions.

Recent years have witnessed the superiority of non-convex s parse learning formulations over their convex counterparts in both theory and pr actice. However, due to the non-convexity and non-smoothness of the regularizer, how to efficiently solve the non-convex optimization problem for large-scale data is still quite challenging. In this paper, we propose an efficient H ybrid O ptimization algorithm for NO n-convex R egularized problems (HONOR). Specifically, we develop a hybrid scheme which effectively integrates a Quasi-Newton (Q N) step and a Gradient Descent (GD) step. Our contributions are as follows: ( 1) HONOR incorporates the second-order information to greatly speed up th e convergence, while it avoids solving a regularized quadratic programming and o nly involves matrix-vector multiplications without explicitly forming the inv erse Hessian matrix.

Recent years have witnessed the superiority of non-convex sparse learning formulations over their convex counterparts in both theory and practice. However, due to the non-convexity and non-smoothness of the regularizer, how to efficiently solve the non-convex optimization problem for large-scale data is still quite challenging. Specifically, we develop a hybrid scheme which effectively integrates a Quasi-Newton (QN) step and a Gradient Descent (GD) step. Our contributions are as follows: (1) HONOR incorporates the second-order information to greatly speed up the convergence, while it avoids solving a regularized quadratic programming and only involves matrix-vector multiplications without explicitly forming the inverse Hessian matrix.

Recent years have witnessed the superiority of non-convex sparse learning formulations over their convex counterparts in both theory and practice. However, due to the non-convexity and non-smoothness of the regularizer, how to efficiently solve the non-convex optimization problem for large-scale data is still quite challenging. In this paper, we propose an efficient Hybrid Optimization algorithm for NOn-convex Regularized problems (HONOR). Specifically, we develop a hybrid scheme which effectively integrates a Quasi-Newton (QN) step and a Gradient Descent (GD) step. Our contributions are as follows: (1) HONOR incorporates the second-order information to greatly speed up the convergence, while it avoids solving a regularized quadratic programming and only involves matrixvector multiplications without explicitly forming the inverse Hessian matrix.

Multi-agent systems can be extremely efficient when working concurrently and collaboratively, e.g., for transportation, maintenance, search and rescue. Coordination of such teams often involves two aspects: (i) selecting appropriate sub-teams for different tasks; (ii) designing collaborative control strategies to execute these tasks. The former aspect can be combinatorial w.r.t. the team size, while the latter requires optimization over joint state-spaces under geometric and dynamic constraints. Existing work often tackles one aspect by assuming the other is given, while ignoring their close dependency. This work formulates such problems as combinatorial-hybrid optimizations (CHO), where both the discrete modes of collaboration and the continuous control parameters are optimized simultaneously and iteratively. The proposed framework consists of two interleaved layers: the dynamic formation of task coalitions and the hybrid optimization of collaborative behaviors. Overall feasibility and costs of different coalitions performing various tasks are approximated at different granularities to improve the computational efficiency. At last, a Nash-stable strategy for both task assignment and execution is derived with provable guarantee on the feasibility and quality. Two non-trivial applications of collaborative transportation and dynamic capture are studied against several baselines.

Autonomous flying robots, e.g. multirotors, often rely on a neural network that makes predictions based on a camera image. These deep learning (DL) models can compute surprising results if applied to input images outside the training domain. Adversarial attacks exploit this fault, for example, by computing small images, so-called adversarial patches, that can be placed in the environment to manipulate the neural network's prediction. We introduce flying adversarial patches, where an image is mounted on another flying robot and therefore can be placed anywhere in the field of view of a victim multirotor. For an effective attack, we compare three methods that simultaneously optimize the adversarial patch and its position in the input image. We perform an empirical validation on a publicly available DL model and dataset for autonomous multirotors. Ultimately, our attacking multirotor would be able to gain full control over the motions of the victim multirotor.

Bipedal robots have received much attention because of the variety of motion maneuvers that they can produce, and the many applications they have in various areas including rehabilitation. One of these motion maneuvers is walking. In this study, we presented a framework for the trajectory optimization of a 5-link (planar) Biped Robot using hybrid optimization. The walking is modeled with two phases of single-stance (support) phase and the collision phase. The dynamic equations of the robot in each phase are extracted by the Lagrange method. It is assumed that the robot heel strike to the ground is full plastic. The gait is optimized with a method called hybrid optimization. The objective function of this problem is considered to be the integral of torque-squared along the trajectory, and also various constraints such as zero dynamics are satisfied without any approximation. Furthermore, in a new framework, there is presented a constraint called impact invariance, which ensures the periodicity of the time-varying trajectories. On the other hand, other constraints provide better and more human-like movement.

Recent years have witnessed the superiority of non-convex sparse learning formulations over their convex counterparts in both theory and practice. However, due to the non-convexity and non-smoothness of the regularizer, how to efficiently solve the non-convex optimization problem for large-scale data is still quite challenging. Specifically, we develop a hybrid scheme which effectively integrates a Quasi-Newton (QN) step and a Gradient Descent (GD) step. Our contributions are as follows: (1) HONOR incorporates the second-order information to greatly speed up the convergence, while it avoids solving a regularized quadratic programming and only involves matrix-vector multiplications without explicitly forming the inverse Hessian matrix. Papers published at the Neural Information Processing Systems Conference.

Recent years have witnessed the superiority of non-convex sparse learning formulations over their convex counterparts in both theory and practice. However, due to the non-convexity and non-smoothness of the regularizer, how to efficiently solve the non-convex optimization problem for large-scale data is still quite challenging. In this paper, we propose an efficient \underline{H}ybrid \underline{O}ptimization algorithm for \underline{NO}n convex \underline{R}egularized problems (HONOR). Specifically, we develop a hybrid scheme which effectively integrates a Quasi-Newton (QN) step and a Gradient Descent (GD) step. Our contributions are as follows: (1) HONOR incorporates the second-order information to greatly speed up the convergence, while it avoids solving a regularized quadratic programming and only involves matrix-vector multiplications without explicitly forming the inverse Hessian matrix. (2) We establish a rigorous convergence analysis for HONOR, which shows that convergence is guaranteed even for non-convex problems, while it is typically challenging to analyze the convergence for non-convex problems. (3) We conduct empirical studies on large-scale data sets and results demonstrate that HONOR converges significantly faster than state-of-the-art algorithms.