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In this report, we study decentralized stochastic optimization to minimize a sum of smooth and strongly convex cost functions when the functions are distributed over a directed network of nodes. In contrast to the existing work, we use gradient tracking to improve certain aspects of the resulting algorithm. In particular, we propose the~textbf{texttt{S-ADDOPT}} algorithm that assumes a stochastic first-order oracle at each node and show that for a constant step-size~$alpha$, each node converges linearly inside an error ball around the optimal solution, the size of which is controlled by~$alpha$. For decaying step-sizes~$mathcal{O}(1/k)$, we show that~textbf{texttt{S-ADDOPT}} reaches the exact solution sublinearly at~$mathcal{O}(1/k)$ and its convergence is asymptotically network-independent. Thus the asymptotic behavior of~textbf{texttt{S-ADDOPT}} is comparable to the centralized stochastic gradient descent. Numerical experiments over both strongly convex and non-convex problems illustrate the convergence behavior and the performance comparison of the proposed algorithm.
In this paper, we propose Push-SAGA, a decentralized stochastic first-order method for finite-sum minimization over a directed network of nodes. Push-SAGA combines node-level variance reduction to remove the uncertainty caused by stochastic gradients
This article focuses on multi-agent distributed optimization problems with a common decision variable, a global linear equality constraint, and local set constraints over directed interconnection topologies. We propose a novel ADMM based distributed
In decentralized optimization, multiple nodes in a network collaborate to minimize the sum of their local loss functions. The information exchange between nodes required for this task, is often limited by network connectivity. We consider a setting i
Trajectory optimization with contact-rich behaviors has recently gained attention for generating diverse locomotion behaviors without pre-specified ground contact sequences. However, these approaches rely on precise models of robot dynamics and the t
In this work, we consider the decentralized optimization problem in which a network of $n$ agents, each possessing a smooth and convex objective function, wish to collaboratively minimize the average of all the objective functions through peer-to-pee