For a strongly convex unconstrained minimization problem, Newton’s method with a line search offers rapid convergence to a minimizer by incorporating second-order infor- mation. However, for a general unconstrained problem the Hessian need not be positive definite, which can lead to the inability to find a search direction or to search directions that fail to … Read more
Contact-rich robotic insertion is challenging because uncertainty in alignment, friction, and contact conditions can lead to unsuccessful assembly, excessive contact forces, and jamming. Designing a reliable controller therefore requires balancing insertion performance, robustness, and recovery from unexpected contact. In this paper, we propose PSO+TR, a derivative-free optimization (DFO) method that combines the exploratory search of … Read more
The Multi-objective Integer Minimum Cost Flow Problem (MOIMCF) asks for the efficient integer flows of a capacitated network whose arcs carry vectors of conflicting costs. We present an exact algorithm that computes a minimal complete set of efficient flows, based on a characterization of efficiency by circulations in the residual network. The feasible set is … Read more
For more than 20 years, single-leader multi-follower (SLMF) problems have been treated as a more difficult class of problems in comparison to bilevel optimization. In this work we challenge this common belief, studying whether SLMF problems can be reformulated as equivalent bilevel optimization problems. We consider both optimistic and pessimistic formulations. For the optimistic case … Read more
We formulate offline tuning of Model Predictive Path Integral (MPPI) controllers as a chance-constrained black-box optimization problem and develop an update-aware framework based on Matrix Adaptation Evolution Strategy (MA-ES). We use statistical information from noisy controller evaluations to determine when the evolutionary update is sufficiently reliable. When the recombination direction is certified, a derivative-free nonmonotone … Read more
Large language models improve test-time accuracy by generating multiple rollouts and aggregating these answers. As generating additional rollouts consumes more tokens, test-time compute faces a fundamental cost accuracy trade-off, naturally raising the question: given a fixed token budget, how to allocate the budget to maximize accuracy? Existing approaches typically adapt the number of rollouts for … Read more
Stochastic dual dynamic programming (SDDP) and its variants are run in practice with forward passes that sample the noise at random. Recent iteration-complexity results favour another choice: when the trial points are selected deterministically, for instance along the scenario with the largest gap, the number of iterations is polynomial in the horizon $T$, whereas every … Read more
We study the problem of learning revenue-maximizing bundle prices when customer valuations and market composition are unknown and the firm observes only customer choices. This problem is challenging because the number of bundle-price decisions grows exponentially with the number of items offered. We develop BLMP (Bundle Pricing via Learning the Market from Customer Preferences), a … Read more
The \(\textit{Colored Knapsack Problem}\) (ColKP) generalizes the classical Knapsack Problem by partitioning the items into color classes and requiring the selected items to admit an ordering in which consecutive items have different colors. The problem is weakly \(\mathcal{NP}\)-hard and admits two pseudo-polynomial dynamic programming (DP) algorithms proposed in the literature. These two DP algorithms have … Read more
Multistage stochastic programs model decisions under uncertainty where earlier decisions change later feasible sets. We propose a feasible pathwise gradient method (FeasPG) that can update the policy as new sample paths arrive. The policy proposes a decision and projects it onto the current feasible set, so every decision is feasible. We derive the full trajectory … Read more