The intrinsically underactuated and nonlinear nature of continuum soft robots makes the derivation of provably stable feedback control laws a challenging task. Most of the works so far circumvented the issue either by looking at coarse fully-actuated approximations of the dynamics or by imposing...
01a Articolo in rivista
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Soft robots are intrinsically underactuated mechanical systems that operate under uncertainties and disturbances. In these conditions, this letter proposes two versions of PID-like control laws with a saturated integral action for the particularly challenging shape regulation task. The closed-loop...
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In this paper, we study the convergence properties of a randomized block-coordinate descent algorithm for the minimization of a composite convex objective function, where the block-coordinates are updated asynchronously and randomly according to an arbitrary probability distribution. We prove that...
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We analyse a general class of bilevel problems, in which the upper-level problem consists in the minimization of a smooth objective function and the lower-level problem is to find the fixed point of a smooth contraction map. This type of problems include instances of meta-learning, equilibrium...
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We study the block-coordinate forward-backward algorithm in which the blocks are updated in a random and possibly parallel manner, according to arbitrary probabilities. The algorithm allows different stepsizes along the block-coordinates to fully exploit the smoothness properties of the objective...
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In this work, we study the method of randomized Bregman projections for stochastic convex feasibility problems, possibly with an infinite number of sets, in Euclidean spaces. Under very general assumptions, we prove almost sure convergence of the iterates to a random almost common point of the sets...
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We study the block-coordinate forward–backward algorithm in which the blocks are updated in a random and possibly parallel manner, according to arbitrary probabilities. The algorithm allows different stepsizes along the block-coordinates to fully exploit the smoothness properties of the objective...
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In this paper, we study the variational problem associated to support vector regression in Banach function spaces. Using the Fenchet-Roclatfellar duality theory, we give an explicit formulation of the dual problem as well as of the related optimality conditions. Moreover, we provide a new...
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We investigate the modeling and the numerical solution of machine learning problems with prediction functions which are linear combinations of elements of a possibly infinite dictionary of functions. We propose a novel flexible composite regularization model, which makes it possible to incorporate...
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This paper proposes a unified framework for the investigation of constrained learning theory in reflexive Banach spaces of features via regularized empirical risk minimization. The focus is placed on Tikhonov-like regularization with totally convex functions. This broad class of regularizers...