arXiv:2507.04356v2 Announce Type: replace-cross
Abstract: Research, innovation and practical capital investment have been increasing rapidly toward the realization of autonomous physical agents. This includes industrial and service robots, unmanned ae…
arXiv:2604.03200v1 Announce Type: new
Abstract: This paper presents a safety-critical centralized nonlinear model predictive control (NMPC) framework for cooperative payload transportation by two quadrupedal robots. The interconnected robot-payload sy…
arXiv:2603.02417v2 Announce Type: replace-cross
Abstract: Classical stochastic-approximation analyses treat the covariance of stochastic gradients as an exogenous modeling input. We show that under exchangeable mini-batch sampling this covariance is i…
arXiv:2604.02558v1 Announce Type: new
Abstract: We address nonconvex learning problems over undirected networks. In particular, we focus on the challenge of designing an algorithm that is both communication-efficient and that guarantees the privacy of…
arXiv:2502.13024v2 Announce Type: replace
Abstract: Classification models play a central role in data-driven decision-making applications such as medical diagnosis, recommendation systems, and risk assessment. Traditional performance metrics, such as …
arXiv:2505.24275v2 Announce Type: replace
Abstract: We propose GradPower, a lightweight gradient-transformation technique for accelerating language model pre-training. Given a gradient vector $g=(g_i)_i$, GradPower first applies the elementwise sign-p…
arXiv:2601.16514v2 Announce Type: replace
Abstract: Understanding why Transformers perform so well remains challenging due to their non-convex optimization landscape. In this work, we analyze a shallow Transformer with $m$ independent heads trained by…
arXiv:2210.13277v4 Announce Type: replace
Abstract: In distributed optimization, a large number of machines alternate between local computations and communication with a coordinating server. Communication, which can be slow and costly, is the main bot…
arXiv:2506.07134v3 Announce Type: replace
Abstract: We introduce Reliable Policy Iteration (RPI) and Conservative RPI (CRPI), variants of Policy Iteration (PI) and Conservative PI (CPI), that retain tabular guarantees under function approximation. RPI…
arXiv:2604.01406v1 Announce Type: cross
Abstract: We study the problem of identifying an optimal coupling between input-output distributional data generated by a causal dynamical system. The coupling is required to satisfy prescribed marginal distribu…