Alex A. Gorodetsky

Alex A. Gorodetsky
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Alex A. Gorodetsky

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Mathematics - Numerical Analysis (2)
Computer Science - Computational Engineering; Finance; and Science (1)
Statistics - Computation (1)
Mathematics - Functional Analysis (1)
Computer Science - Robotics (1)
Computer Science - Numerical Analysis (1)

Publications Authored By Alex A. Gorodetsky

Motion planning and control problems are embedded and essential in almost all robotics applications. These problems are often formulated as stochastic optimal control problems and solved using dynamic programming algorithms. Unfortunately, most existing algorithms that guarantee convergence to optimal solutions suffer from the curse of dimensionality: the run time of the algorithm grows exponentially with the dimension of the state space of the system. Read More

We describe a new function approximation framework based on a continuous extension of the tensor-train decomposition. The approximation, termed a function-train (FT), results in a tensor-train structure whose cores are univariate functions. An advantage of the FT over discrete approaches is that it produces an adaptive approximation of tensor fibers that is not tied to any tensorized discretization procedure; indeed, the algorithm can be coupled with any univariate linear or nonlinear approximation procedure. Read More

This paper examines experimental design procedures used to develop surrogates of computational models, exploring the interplay between experimental designs and approximation algorithms. We focus on two widely used approximation approaches, Gaussian process (GP) regression and non-intrusive polynomial approximation. First, we introduce algorithms for minimizing a posterior integrated variance (IVAR) design criterion for GP regression. Read More

Surrogate models for computational simulations are input-output approximations that allow computationally intensive analyses, such as uncertainty propagation and inference, to be performed efficiently. When a simulation output does not depend smoothly on its inputs, the error and convergence rate of many approximation methods deteriorate substantially. This paper details a method for efficiently localizing discontinuities in the input parameter domain, so that the model output can be approximated as a piecewise smooth function. Read More