Quadratic programs (QPs) that enforce control barrier functions (CBFs) have become popular for safety-critical control synthesis, in part due to their ease of implementation and constraint specification. The construction of valid CBFs, however, is not straightforward, and for arbitrarily chosen parameters of the QP, the system trajectories may enter states at which the QP either eventually becomes infeasible, or may not achieve desired performance. In this work, we pose the control synthesis problem as a differential policy whose parameters are optimized for performance over a time horizon at high level, thus resulting in a bi-level optimization routine. In the absence of knowledge of the set of feasible parameters, we develop a Recursive Feasibility Guided Gradient Descent approach for updating the parameters of QP so that the new solution performs at least as well as previous solution. By considering the dynamical system as a directed graph over time, this work presents a novel way of optimizing performance of a QP controller over a time horizon for multiple CBFs by (1) using the gradient of its solution with respect to its parameters by employing sensitivity analysis, and (2) backpropagating these as well as system dynamics gradients to update parameters while maintaining feasibility of QPs.
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Continuous DR-submodular functions are a class of generally non-convex/non-concave functions that satisfy the Diminishing Returns (DR) property, which implies that they are concave along non-negative directions. Existing work has studied monotone continuous DR-submodular maximization subject to a convex constraint and provided efficient algorithms with approximation guarantees. In many applications, such as computing the stability number of a graph, the monotone DR-submodular objective function has the additional property of being strongly concave along non-negative directions (i.e., strongly DR-submodular). In this paper, we consider a subclass of $L$-smooth monotone DR-submodular functions that are strongly DR-submodular and have a bounded curvature, and we show how to exploit such additional structure to obtain faster algorithms with stronger guarantees for the maximization problem. We propose a new algorithm that matches the provably optimal $1-\frac{c}{e}$ approximation ratio after only $\lceil\frac{L}{\mu}\rceil$ iterations, where $c\in[0,1]$ and $\mu\geq 0$ are the curvature and the strong DR-submodularity parameter. Furthermore, we study the Projected Gradient Ascent (PGA) method for this problem, and provide a refined analysis of the algorithm with an improved $\frac{1}{1+c}$ approximation ratio (compared to $\frac{1}{2}$ in prior works) and a linear convergence rate. Experimental results illustrate and validate the efficiency and effectiveness of our proposed algorithms.
Optimization of parameterized quantum circuits is indispensable for applications of near-term quantum devices to computational tasks with variational quantum algorithms (VQAs). However, the existing optimization algorithms for VQAs require an excessive number of quantum-measurement shots in estimating expectation values of observables or iterating updates of circuit parameters, whose cost has been a crucial obstacle for practical use. To address this problem, we develop an efficient framework, \textit{stochastic gradient line Bayesian optimization} (SGLBO), for the circuit optimization with fewer measurement shots. The SGLBO reduces the cost of measurement shots by estimating an appropriate direction of updating the parameters based on stochastic gradient descent (SGD) and further by utilizing Bayesian optimization (BO) to estimate the optimal step size in each iteration of the SGD. We formulate an adaptive measurement-shot strategy to achieve the optimization feasibly without relying on precise expectation-value estimation and many iterations; moreover, we show that a technique of suffix averaging can significantly reduce the effect of statistical and hardware noise in the optimization for the VQAs. Our numerical simulation demonstrates that the SGLBO augmented with these techniques can drastically reduce the required number of measurement shots, improve the accuracy in the optimization, and enhance the robustness against the noise compared to other state-of-art optimizers in representative tasks for the VQAs. These results establish a framework of quantum-circuit optimizers integrating two different optimization approaches, SGD and BO, to reduce the cost of measurement shots significantly.
Softwarization and virtualization are key concepts for emerging industries that require ultra-low latency. This is only possible if computing resources, traditionally centralized at the core of communication networks, are moved closer to the user, to the network edge. However, the realization of Edge Computing (EC) in the sixth generation (6G) of mobile networks requires efficient resource allocation mechanisms for the placement of the Virtual Network Functions (VNFs). Machine learning (ML) methods, and more specifically, Reinforcement Learning (RL), are a promising approach to solve this problem. The main contributions of this work are twofold: first, we obtain the theoretical performance bound for VNF placement in EC-enabled6G networks by formulating the problem mathematically as a finite Markov Decision Process (MDP) and solving it using a dynamic programming method called Policy Iteration (PI). Second, we develop a practical solution to the problem using RL, where the problem is treated with Q-Learning that considers both computational and communication resources when placing VNFs in the network. The simulation results under different settings of the system parameters show that the performance of the Q-Learning approach is close to the optimal PI algorithm (without having its restrictive assumptions on service statistics). This is particularly interesting when the EC resources are scarce and efficient management of these resources is required.
This paper presents some new results on maximum likelihood of incomplete data. Finite sample properties of conditional observed information matrices are established. In particular, they possess the same Loewner partial ordering properties as the expected information matrices do. In its new form, the observed Fisher information (OFI) simplifies conditional expectation of outer product of the complete-data score function appearing in the Louis (1982) general matrix formula. It verifies positive definiteness and consistency to the expected Fisher information as the sample size increases. Furthermore, it shows a resulting information loss presented in the incomplete data. For this reason, the OFI may not be the right (consistent and efficient) estimator to derive the standard error (SE) of maximum likelihood estimates (MLE) for incomplete data. A sandwich estimator of covariance matrix is developed to provide consistent and efficient estimates of SE. The proposed sandwich estimator coincides with the Huber sandwich estimator for model misspecification under complete data (Huber, 1967; Freedman, 2006; Little and Rubin, 2020). However, in contrast to the latter, the new estimator does not involve OFI which notably gives an appealing feature for application. Recursive algorithms for the MLE, the observed information and the sandwich estimator are presented. Application to parameter estimation of a regime switching conditional Markov jump process is considered to verify the results. The recursive equations for the inverse OFI generalizes the algorithm of Hero and Fessler (1994). The simulation study confirms that the MLEs are accurate and consistent having asymptotic normality. The sandwich estimator produces standard error of the MLE close to their analytic values compared to those overestimated by the OFI.
Data assimilation techniques are widely used to predict complex dynamical systems with uncertainties, based on time-series observation data. Error covariance matrices modelling is an important element in data assimilation algorithms which can considerably impact the forecasting accuracy. The estimation of these covariances, which usually relies on empirical assumptions and physical constraints, is often imprecise and computationally expensive especially for systems of large dimension. In this work, we propose a data-driven approach based on long short term memory (LSTM) recurrent neural networks (RNN) to improve both the accuracy and the efficiency of observation covariance specification in data assimilation for dynamical systems. Learning the covariance matrix from observed/simulated time-series data, the proposed approach does not require any knowledge or assumption about prior error distribution, unlike classical posterior tuning methods. We have compared the novel approach with two state-of-the-art covariance tuning algorithms, namely DI01 and D05, first in a Lorenz dynamical system and then in a 2D shallow water twin experiments framework with different covariance parameterization using ensemble assimilation. This novel method shows significant advantages in observation covariance specification, assimilation accuracy and computational efficiency.
Interpretation of Deep Neural Networks (DNNs) training as an optimal control problem with nonlinear dynamical systems has received considerable attention recently, yet the algorithmic development remains relatively limited. In this work, we make an attempt along this line by reformulating the training procedure from the trajectory optimization perspective. We first show that most widely-used algorithms for training DNNs can be linked to the Differential Dynamic Programming (DDP), a celebrated second-order trajectory optimization algorithm rooted in the Approximate Dynamic Programming. In this vein, we propose a new variant of DDP that can accept batch optimization for training feedforward networks, while integrating naturally with the recent progress in curvature approximation. The resulting algorithm features layer-wise feedback policies which improve convergence rate and reduce sensitivity to hyper-parameter over existing methods. We show that the algorithm is competitive against state-ofthe-art first and second order methods. Our work opens up new avenues for principled algorithmic design built upon the optimal control theory.
Alternating Direction Method of Multipliers (ADMM) is a widely used tool for machine learning in distributed settings, where a machine learning model is trained over distributed data sources through an interactive process of local computation and message passing. Such an iterative process could cause privacy concerns of data owners. The goal of this paper is to provide differential privacy for ADMM-based distributed machine learning. Prior approaches on differentially private ADMM exhibit low utility under high privacy guarantee and often assume the objective functions of the learning problems to be smooth and strongly convex. To address these concerns, we propose a novel differentially private ADMM-based distributed learning algorithm called DP-ADMM, which combines an approximate augmented Lagrangian function with time-varying Gaussian noise addition in the iterative process to achieve higher utility for general objective functions under the same differential privacy guarantee. We also apply the moments accountant method to bound the end-to-end privacy loss. The theoretical analysis shows that DP-ADMM can be applied to a wider class of distributed learning problems, is provably convergent, and offers an explicit utility-privacy tradeoff. To our knowledge, this is the first paper to provide explicit convergence and utility properties for differentially private ADMM-based distributed learning algorithms. The evaluation results demonstrate that our approach can achieve good convergence and model accuracy under high end-to-end differential privacy guarantee.
In this work, we consider the distributed optimization of non-smooth convex functions using a network of computing units. We investigate this problem under two regularity assumptions: (1) the Lipschitz continuity of the global objective function, and (2) the Lipschitz continuity of local individual functions. Under the local regularity assumption, we provide the first optimal first-order decentralized algorithm called multi-step primal-dual (MSPD) and its corresponding optimal convergence rate. A notable aspect of this result is that, for non-smooth functions, while the dominant term of the error is in $O(1/\sqrt{t})$, the structure of the communication network only impacts a second-order term in $O(1/t)$, where $t$ is time. In other words, the error due to limits in communication resources decreases at a fast rate even in the case of non-strongly-convex objective functions. Under the global regularity assumption, we provide a simple yet efficient algorithm called distributed randomized smoothing (DRS) based on a local smoothing of the objective function, and show that DRS is within a $d^{1/4}$ multiplicative factor of the optimal convergence rate, where $d$ is the underlying dimension.
We develop an approach to risk minimization and stochastic optimization that provides a convex surrogate for variance, allowing near-optimal and computationally efficient trading between approximation and estimation error. Our approach builds off of techniques for distributionally robust optimization and Owen's empirical likelihood, and we provide a number of finite-sample and asymptotic results characterizing the theoretical performance of the estimator. In particular, we show that our procedure comes with certificates of optimality, achieving (in some scenarios) faster rates of convergence than empirical risk minimization by virtue of automatically balancing bias and variance. We give corroborating empirical evidence showing that in practice, the estimator indeed trades between variance and absolute performance on a training sample, improving out-of-sample (test) performance over standard empirical risk minimization for a number of classification problems.
In this paper, we study the optimal convergence rate for distributed convex optimization problems in networks. We model the communication restrictions imposed by the network as a set of affine constraints and provide optimal complexity bounds for four different setups, namely: the function $F(\xb) \triangleq \sum_{i=1}^{m}f_i(\xb)$ is strongly convex and smooth, either strongly convex or smooth or just convex. Our results show that Nesterov's accelerated gradient descent on the dual problem can be executed in a distributed manner and obtains the same optimal rates as in the centralized version of the problem (up to constant or logarithmic factors) with an additional cost related to the spectral gap of the interaction matrix. Finally, we discuss some extensions to the proposed setup such as proximal friendly functions, time-varying graphs, improvement of the condition numbers.
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