4 papers · 1 filter
Model Predictive Path Integral Control as Preconditioned Gradient Descent
Mahyar Fazlyab, Sina Sharifi, Jiarui Wang
Model Predictive Path Integral (MPPI) control is a widely used sampling-based method for trajectory optimization, yet its convergence properties remain only partially understood. T…
Sequential QCQP for Bilevel Optimization with Line Search
Sina Sharifi, Erfan Yazdandoost Hamedani, Mahyar Fazlyab
Bilevel optimization involves a hierarchical structure where one problem is nested within another, leading to complex interdependencies between levels. We propose a single-loop, tu…
Perturbed Gradient Descent via Convex Quadratic Approximation for Nonconvex Bilevel Optimization
Nazanin Abolfazli, Sina Sharifi, Mahyar Fazlyab +1
Bilevel optimization is a fundamental tool in hierarchical decision-making and has been widely applied to machine learning tasks such as hyperparameter tuning, meta-learning, and c…
Safe Gradient Flow for Bilevel Optimization
Sina Sharifi, Nazanin Abolfazli, Erfan Yazdandoost Hamedani +1
Bilevel optimization is a key framework in hierarchical decision-making, where one problem is embedded within the constraints of another. In this work, we propose a control-theoret…