TRIO Lab Trustworthy Robotics, Intelligence, and Optimization Lab

Optimal problem formulation

...closing the loop between solvers and formulation

Optimal problem formulation

We explore how to automatically design optimization problems for robotics.

Differentiable global optimization layers

A straightforward way to close the loop between formulation and solvers is to make the solvers differentiable, allowing us to use them as layers in a larger problem including, for example, deep-learned feature extractors. Thanks to our work on SDPRLayers, one can plug global optimization tools into end-to-end learned pipelines and harvest the advantages of certifiable optimization with deep-learned feature extraction and dimensionality reduction. Ongoing collaborations are exploring how to use this tool for a variety of applications, including global sensitivity-aware feature learning and optimization landscape shaping and characterization.

Solver-aware formulation

Our works on KernelSOS and Koopman-inspired methods are also examples of formulation / modeling choices that are made with the solver in mind. In both cases, we choose model classes that are not only accurate but also amenable to global optimization tools.

Related Publications

Sampling-Based Global Optimal Control and Estimation via Semidefinite Programming
Sampling-Based Global Optimal Control and Estimation via Semidefinite Programming
Antoine Groudiev, Fabian Schramm, éloïse Berthier, Justin Carpentier, Frederike Dümbgen
Conference American Control Conference  ·  2026
SDPRLayers: Certifiable Backpropagation Through Polynomial Optimization Problems in Robotics
SDPRLayers: Certifiable Backpropagation Through Polynomial Optimization Problems in Robotics
Connor Holmes, Frederike Dümbgen, Timothy D. Barfoot
Journal IEEE Transactions on Robotics  ·  2025
Data-Driven Batch Localization and SLAM Using Koopman Linearization
Data-Driven Batch Localization and SLAM Using Koopman Linearization
Zi Cong Guo, Frederike Dümbgen, James R. Forbes, Timothy D. Barfoot
Journal IEEE Transactions on Robotics  ·  2024