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1. Reach-SDP: Reachability Analysis of Closed-Loop Systems with Neural Network Controllers via Semidefinite Programming

   https://doi.org/10.1109/CDC42340.2020.9304296  

   Hu, Haimin; Fazlyab, Mahyar; Morari, Manfred; Pappas, George J. (December 2020, IEEE Conference on Decision and Control)

   There has been an increasing interest in using neural networks in closed-loop control systems to improve performance and reduce computational costs for on-line implementation. However, providing safety and stability guarantees for these systems is challenging due to the nonlinear and compositional structure of neural networks. In this paper, we propose a novel forward reachability analysis method for the safety verification of linear time-varying systems with neural networks in feedback interconnection. Our technical approach relies on abstracting the nonlinear activation functions by quadratic constraints, which leads to an outer-approximation of forward reachable sets of the closed-loop system. We show that we can compute these approximate reachable sets using semidefinite programming. We illustrate our method in a quadrotor example, in which we first approximate a nonlinear model predictive controller via a deep neural network and then apply our analysis tool to certify finite-time reachability and constraint satisfaction of the closed-loop system. 

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2. Determinant Maximization via Matroid Intersection Algorithms

   Brown, A; Laddha, A.; Pittu, M.; Singh, M.; Tetali, P. (October 2022, Annual Symposium on Foundations of Computer Science)

   Determinant maximization problem gives a general framework that models problems arising in as diverse fields as statistics [Puk06], convex geometry [Kha96], fair allocations [AGSS16], combinatorics [AGV18], spectral graph theory [NST19a], network design, and random processes [KT12]. In an instance of a determinant maximization problem, we are given a collection of vectors U = {v1, . . . , vn} ⊂ Rd , and a goal is to pick a subset S ⊆ U of given vectors to maximize the determinant of the matrix ∑i∈S vivi^T. Often, the set S of picked vectors must satisfy additional combinatorial constraints such as cardinality constraint (|S| ≤ k) or matroid constraint (S is a basis of a matroid defined on the vectors). In this paper, we give a polynomial-time deterministic algorithm that returns a r O(r)-approximation for any matroid of rank r ≤ d. This improves previous results that give e O(r^2)-approximation algorithms relying on e^O(r)-approximate estimation algorithms [NS16, AG17,AGV18, MNST20] for any r ≤ d. All previous results use convex relaxations and their relationship to stable polynomials and strongly log-concave polynomials. In contrast, our algorithm builds on combinatorial algorithms for matroid intersection, which iteratively improve any solution by finding an alternating negative cycle in the exchange graph defined by the matroids. While the det(.) function is not linear, we show that taking appropriate linear approximations at each iteration suffice to give the improved approximation algorithm. 

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3. Efficient Trajectory Generation for Robotic Systems Constrained by Contact Forces

   Jaemin Lee, Efstathios Bakolas (March 2019, ArXiv.org)

   In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are nonlinear and coupled to each other. Instead of linearizing the model and constraints, we directly solve the optimal control problem to obtain the feasible state trajectory and the control input of the system. A tractable optimal control problem is formulated which is addressed by dual approaches, which are sampling-based dynamic programming and rigorous reachability analysis. The sampling-based method and Partially Observable Markov Decision Process (POMDP) are used to break down the end-to-end trajectory generation problem via sample-wise optimization in terms of given conditions. The result generates sequential pairs of subregions to be passed to reach the final goal. The reachability analysis ensures that we will find at least one trajectory starting from a given initial state and going through a sequence of subregions. The distinctive contributions of our method are to enable handling the intricate contact constraint coupled with system’s dynamics due to the reduction of computational complexity of the algorithm. We validate our method using extensive numerical simulations with a legged robot. 

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4. Streaming complexity of CSPs with randomly ordered constraints

   Saxena, Raghuvansh R.; Singer, Noah; Sudan, Madhu; Velusamy, Santhoshini (January 2023, Proceedings of the 2023 {ACM-SIAM} Symposium on Discrete Algorithms, {SODA} 2023)

   Nikhil, Bansal; Nagarajan, Viswanath (Ed.)

   We initiate a study of the streaming complexity of constraint satisfaction problems (CSPs) when the constraints arrive in a random order. We show that there exists a CSP, namely Max-DICUT, for which random ordering makes a provable difference. Whereas a 4/9 ≈ 0.445 approximation of DICUT requires space with adversarial ordering, we show that with random ordering of constraints there exists a 0.483-approximation algorithm that only needs O(log n) space. We also give new algorithms for Max-DICUT in variants of the adversarial ordering setting. Specifically, we give a two-pass O(log n) space 0.483-approximation algorithm for general graphs and a single-pass space 0.483-approximation algorithm for bounded-degree graphs. On the negative side, we prove that CSPs where the satisfying assignments of the constraints support a one-wise independent distribution require -space for any non-trivial approximation, even when the constraints are randomly ordered. This was previously known only for adversarially ordered constraints. Extending the results to randomly ordered constraints requires switching the hard instances from a union of random matchings to simple Erdős-Renyi random (hyper)graphs and extending tools that can perform Fourier analysis on such instances. The only CSP to have been considered previously with random ordering is Max-CUT where the ordering is not known to change the approximability. Specifically it is known to be as hard to approximate with random ordering as with adversarial ordering, for space algorithms. Our results show a richer variety of possibilities and motivate further study of CSPs with randomly ordered constraints. 

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5. Improved Massively Parallel Computation Algorithms for MIS, Matching, and Vertex Cover

   Ghaffari, Mohsen; Gouleakis, Themis; Konrad, Christian; Mitrovic, Slobodan; Rubinfeld, Ronitt (July 2018, Proceedings of the 37th ACM Principles of Distributed Computing (PODC 2018))

   We present O(log logn)-round algorithms in the Massively Parallel Computation (MPC) model, with ˜O(n) memory per machine, that compute a maximal independent set, a 1 + ε approximation of maximum matching, and a 2 + ε approximation of minimum vertex cover, for any n-vertex graph and any constant ε > 0. These improve the state of the art as follows: • Our MIS algorithm leads to a simple O(log log Δ)-round MIS algorithm in the CONGESTED-CLIQUE model of distributed computing, which improves on the ˜O (plog Δ)-round algorithm of Ghaffari [PODC’17]. • OurO(log logn)-round (1+ε)-approximate maximum matching algorithm simplifies or improves on the following prior work: O(log2 logn)-round (1 + ε)-approximation algorithm of Czumaj et al. [STOC’18] and O(log logn)-round (1 + ε)- approximation algorithm of Assadi et al. [arXiv’17]. • Our O(log logn)-round (2+ε)-approximate minimum vertex cover algorithm improves on an O(log logn)-round O(1)- approximation of Assadi et al. [arXiv’17]. 

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