arXiv:2606. 13825v1 Announce Type: cross Abstract: Deep unfolding (DU) accelerates iterative optimizers by introducing learnable components and training them through unrolled iterations, but extending DU to the large-scale semidefinite programs (SDPs) common in robotics has remained limited.
arXiv:2606. 19920v1 Announce Type: cross Abstract: Distributed optimization is a highly scalable and structurally transparent technique to solve multi-agent robotics problems; however, such methods often suffer from the need for highly-specialized, problem-specific hyperparameter tunings.
arXiv:2606. 07574v1 Announce Type: cross Abstract: Manifold-constrained hyper-connections (mHCs) have recently been proposed as a principled extension of hyper-connections, where the residual mixing matrices are constrained to be doubly stochastic via projection onto the Birkhoff polytope.
arXiv:2606. 00366v1 Announce Type: new Abstract: We consider the problem of generating a large collection of initial guesses for local minima of multimodal non-convex continuous optimization problems.
arXiv:2406. 10407v3 Announce Type: replace-cross Abstract: Semidefinite programs (SDPs) and their solvers are powerful tools with many applications in machine learning and data science.
arXiv:2609. 03762v1 Announce Type: new Abstract: The computation of the Bures-Wasserstein (BW) barycenter of an ensemble of positive definite matrices arises throughout machine learning, optimal transport, and quantum information.
arXiv:2607. 20769v1 Announce Type: new Abstract: Learning-enabled decision systems often use offline data or computation to reduce online compute cost.
arXiv:2608.24743v1 Announce Type: new Abstract: Existing linear program (LP) and semidefinite program (SDP) relaxations for rectified linear unit (ReLU) neural network (NN) verification yield overly-...
The paper introduces a Projected Riemannian Gradient Descent (RGD) algorithm for computing the Bures‑Wasserstein barycenter of positive definite matrices, achieving dimension‑independent linear convergence at unit step size. It resolves a previous dichotomy by showing that clipping eigenvalues to a fixed interval yields a closed‑form, non‑expansive projection in the BW metric, allowing the algorithm to match the empirical speed of unit‑step RGD while maintaining theoretical guarantees. The method also extends to the invariant matrix projection problem, providing a unified dimension‑independent analysis.
arXiv:2606. 19411v1 Announce Type: new Abstract: Selecting a small, diverse, high-quality subset from a massive pool of candidates is a recurring primitive in modern machine learning -- data curation and coreset selection for training and fine-tuning large models, active-learning batch acquisition, prompt and exemplar selection for in-context learning, retrieval diversification, and experimental design.
Existing linear program (LP) and semidefinite program (SDP) relaxations for rectified linear unit (ReLU) neural network (NN) verification yield overly-conservative safety guarantees due to significant...
arXiv:2607. 07206v1 Announce Type: new Abstract: Adaptive optimizers mix several mechanisms: a metric or preconditioner maps gradients to descent directions, while estimation, memory, step-size control, constraints, stochasticity, target modification, and discretization determine which directions are available and how they are used.
arXiv:2606. 24039v1 Announce Type: cross Abstract: Robotics increasingly relies on GPUs for parallel simulation, large-scale learning, and neural-network inference.