Intelligent Systems

12 results (View BibTeX file of all listed publications)

2022

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On Constraints in First-Order Optimization: A View from Non-Smooth Dynamical Systems

Muehlebach, M., Jordan, M. I.

Journal of Machine Learning Research, 2022 (article)

Abstract
We introduce a class of first-order methods for smooth constrained optimization that are based on an analogy to non-smooth dynamical systems. Two distinctive features of our approach are that (i) projections or optimizations over the entire feasible set are avoided, in stark contrast to projected gradient methods or the Frank-Wolfe method, and (ii) iterates are allowed to become infeasible, which differs from active set or feasible direction methods, where the descent motion stops as soon as a new constraint is encountered. The resulting algorithmic procedure is simple to implement even when constraints are nonlinear, and is suitable for large-scale constrained optimization problems in which the feasible set fails to have a simple structure. The key underlying idea is that constraints are expressed in terms of velocities instead of positions, which has the algorithmic consequence that optimizations over feasible sets at each iteration are replaced with optimizations over local, sparse convex approximations. The result is a simplified suite of algorithms and an expanded range of possible applications in machine learning.

link (url) [BibTex]

2021

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Optimization with Momentum: Dynamical, Control-Theoretic, and Symplectic Perspectives

Muehlebach, M., Jordan, M. I.

Journal of Machine Learning Research, 22(73):1-50, 2021 (article)

link (url) [BibTex]

2021

Muehlebach, M., Jordan, M. I. Optimization with Momentum: Dynamical, Control-Theoretic, and Symplectic Perspectives Journal of Machine Learning Research, 22(73):1-50, 2021 (article)

link (url) [BibTex]

2020

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Learning-based parametrized model predictive control for trajectory tracking

Sferrazza, C., Muehlebach, M., D’Andrea, R.

Optimal Control Application and Methods, 41(6):2225-2249, 2020 (article) In preparation

DOI [BibTex]

2020

Sferrazza, C., Muehlebach, M., D’Andrea, R. Learning-based parametrized model predictive control for trajectory tracking Optimal Control Application and Methods, 41(6):2225-2249, 2020 (article) In preparation

DOI [BibTex]

2019

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A Method for Reducing the Complexity of Model Predictive Control in Robotics Applications

Muehlebach, M., D’Andrea, R.

IEEE Robotics and Automation Letters, 2019, 2019 (article)

link (url) [BibTex]

2019

Muehlebach, M., D’Andrea, R. A Method for Reducing the Complexity of Model Predictive Control in Robotics Applications IEEE Robotics and Automation Letters, 2019, 2019 (article)

link (url) [BibTex]

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Accelerometer-Based Tilt Determination for Rigid Bodies with a Non-Accelerated Pivot Point

Muehlebach, M., D’Andrea, R.

IEEE Transactions on Control Systems Technology, 2018 (article)

[BibTex]

Muehlebach, M., D’Andrea, R. Accelerometer-Based Tilt Determination for Rigid Bodies with a Non-Accelerated Pivot Point IEEE Transactions on Control Systems Technology, 2018 (article)

[BibTex]

2016

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Variational Integrators - A Continuous Time Approach

Muehlebach, M., Heimsch, T., Glocker, C.

International Journal for Numerical Methods in Engineering, 2016 (article)

[BibTex]

2016

Muehlebach, M., Heimsch, T., Glocker, C. Variational Integrators - A Continuous Time Approach International Journal for Numerical Methods in Engineering, 2016 (article)

[BibTex]

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Nonlinear Analysis and Control of a Reaction Wheel-based 3-D Inverted Pendulum

Muehlebach, M., D’Andrea, R.

IEEE Transactions on Control Systems Technology, 25(1): 235-246, 2016 (article)

[BibTex]

Muehlebach, M., D’Andrea, R. Nonlinear Analysis and Control of a Reaction Wheel-based 3-D Inverted Pendulum IEEE Transactions on Control Systems Technology, 25(1): 235-246, 2016 (article)

[BibTex]

2014

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A Fan-based Low-frequent Forced Oscillation Technique Apparatus

Maes, H., Vandersteen, G., Muehlebach, M., Ionescu, C.

IEEE Transactions on Instrumentation and Measurements, 2014 (article)

[BibTex]

2014

Maes, H., Vandersteen, G., Muehlebach, M., Ionescu, C. A Fan-based Low-frequent Forced Oscillation Technique Apparatus IEEE Transactions on Instrumentation and Measurements, 2014 (article)

[BibTex]