10 papers
Generalized Model Predictive Path Integral Control as Expectation--Maximization
Jiarui Wang, Sina Sharifi, Mahyar Fazlyab
Model Predictive Path Integral (MPPI) control is a powerful sampling-based method for solving stochastic optimal control problems and has enabled real-time control in complex robot…
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…
Hierarchical End-to-End Taylor Bounds for Complete Neural Network Verification
Taha Entesari, Mahyar Fazlyab
Reachability analysis of neural networks, which seeks to compute or bound the set of outputs attainable over a given input domain, is central to certifying safety and robustness in…
Anytime-Feasible First-Order Optimization via Safe Sequential QCQP
Jiarui Wang, Mahyar Fazlyab
This paper presents the Safe Sequential Quadratically Constrained Quadratic Programming (SS-QCQP) algorithm, a first-order method for smooth inequality-constrained nonconvex optimi…
Constrained Entropic Unlearning: A Primal-Dual Framework for Large Language Models
Taha Entesari, Arman Hatami, Rinat Khaziev +2
Large Language Models (LLMs) deployed in real-world settings increasingly face the need to unlearn sensitive, outdated, or proprietary information. Existing unlearning methods typi…
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…