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Rafael Oliveira

Rafael Oliveira contributes to research discovery and scholarly infrastructure.

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Published work

10 published item(s)

preprint2026arXiv

Kernel-based guarantees for nonlinear parametric models in Bayesian optimization

Modern Bayesian optimization and adaptive sampling methods increasingly rely on nonlinear parametric models, yet theoretical guarantees for such models under adaptive data collection remain limited. Existing analyses largely focus on Gaussian processes, kernel machines, linear models, or linearized neural approximations, leaving a gap between theory and the nonlinear models used in practice. We develop a kernel based framework for analyzing regularized nonlinear parametric models trained on adaptively collected data. Our approach uses kernels over the parameter space to induce reproducing kernel Hilbert space structures over the corresponding model class, yielding confidence bounds for models trained with broad classes of regularized convex losses. We show how these bounds can support convergence guarantees for nonlinear acquisition and surrogate models, including randomized regularized policies that select points by maximizing a trained random model. These results provide a unified route to analyzing nonlinear parametric models in Bayesian optimization and related adaptive optimization settings.

preprint2022arXiv

Adaptive Model Predictive Control by Learning Classifiers

Stochastic model predictive control has been a successful and robust control framework for many robotics tasks where the system dynamics model is slightly inaccurate or in the presence of environment disturbances. Despite the successes, it is still unclear how to best adjust control parameters to the current task in the presence of model parameter uncertainty and heteroscedastic noise. In this paper, we propose an adaptive MPC variant that automatically estimates control and model parameters by leveraging ideas from Bayesian optimisation (BO) and the classical expected improvement acquisition function. We leverage recent results showing that BO can be reformulated via density ratio estimation, which can be efficiently approximated by simply learning a classifier. This is then integrated into a model predictive path integral control framework yielding robust controllers for a variety of challenging robotics tasks. We demonstrate the approach on classical control problems under model uncertainty and robotics manipulation tasks.

preprint2022arXiv

Bayesian Optimisation for Robust Model Predictive Control under Model Parameter Uncertainty

We propose an adaptive optimisation approach for tuning stochastic model predictive control (MPC) hyper-parameters while jointly estimating probability distributions of the transition model parameters based on performance rewards. In particular, we develop a Bayesian optimisation (BO) algorithm with a heteroscedastic noise model to deal with varying noise across the MPC hyper-parameter and dynamics model parameter spaces. Typical homoscedastic noise models are unrealistic for tuning MPC since stochastic controllers are inherently noisy, and the level of noise is affected by their hyper-parameter settings. We evaluate the proposed optimisation algorithm in simulated control and robotics tasks where we jointly infer control and dynamics parameters. Experimental results demonstrate that our approach leads to higher cumulative rewards and more stable controllers.

preprint2022arXiv

Robust Radical Sylvester-Gallai Theorem for Quadratics

We prove a robust generalization of a Sylvester-Gallai type theorem for quadratic polynomials, generalizing the result in [S&#39;20]. More precisely, given a parameter $0 < δ\leq 1$ and a finite collection $\mathcal{F}$ of irreducible and pairwise independent polynomials of degree at most 2, we say that $\mathcal{F}$ is a $(δ, 2)$-radical Sylvester-Gallai configuration if for any polynomial $F_i \in \mathcal{F}$, there exist $δ(|\mathcal{F}| -1)$ polynomials $F_j$ such that $|\mathrm{rad}(F_i, F_j) \cap \mathcal{F}| \geq 3$, that is, the radical of $F_i, F_j$ contains a third polynomial in the set. In this work, we prove that any $(δ, 2)$-radical Sylvester-Gallai configuration $\mathcal{F}$ must be of low dimension: that is $$\dim \mathrm{span}(\mathcal{F}) = \mathrm{poly}(1/δ).$$

preprint2022arXiv

Value Function Approximations via Kernel Embeddings for No-Regret Reinforcement Learning

We consider the regret minimization problem in reinforcement learning (RL) in the episodic setting. In many real-world RL environments, the state and action spaces are continuous or very large. Existing approaches establish regret guarantees by either a low-dimensional representation of the stochastic transition model or an approximation of the $Q$-functions. However, the understanding of function approximation schemes for state-value functions largely remains missing. In this paper, we propose an online model-based RL algorithm, namely the CME-RL, that learns representations of transition distributions as embeddings in a reproducing kernel Hilbert space while carefully balancing the exploitation-exploration tradeoff. We demonstrate the efficiency of our algorithm by proving a frequentist (worst-case) regret bound that is of order $\tilde{O}\big(Hγ_N\sqrt{N}\big)$\footnote{ $\tilde{O}(\cdot)$ hides only absolute constant and poly-logarithmic factors.}, where $H$ is the episode length, $N$ is the total number of time steps and $γ_N$ is an information theoretic quantity relating the effective dimension of the state-action feature space. Our method bypasses the need for estimating transition probabilities and applies to any domain on which kernels can be defined. It also brings new insights into the general theory of kernel methods for approximate inference and RL regret minimization.

preprint2020arXiv

DISCO: Double Likelihood-free Inference Stochastic Control

Accurate simulation of complex physical systems enables the development, testing, and certification of control strategies before they are deployed into the real systems. As simulators become more advanced, the analytical tractability of the differential equations and associated numerical solvers incorporated in the simulations diminishes, making them difficult to analyse. A potential solution is the use of probabilistic inference to assess the uncertainty of the simulation parameters given real observations of the system. Unfortunately the likelihood function required for inference is generally expensive to compute or totally intractable. In this paper we propose to leverage the power of modern simulators and recent techniques in Bayesian statistics for likelihood-free inference to design a control framework that is efficient and robust with respect to the uncertainty over simulation parameters. The posterior distribution over simulation parameters is propagated through a potentially non-analytical model of the system with the unscented transform, and a variant of the information theoretical model predictive control. This approach provides a more efficient way to evaluate trajectory roll outs than Monte Carlo sampling, reducing the online computation burden. Experiments show that the controller proposed attained superior performance and robustness on classical control and robotics tasks when compared to models not accounting for the uncertainty over model parameters.

preprint2020arXiv

Search problems in algebraic complexity, GCT, and hardness of generator for invariant rings

We consider the problem of computing succinct encodings of lists of generators for invariant rings for group actions. Mulmuley conjectured that there are always polynomial sized such encodings for invariant rings of $\SL_n(\C)$-representations. We provide simple examples that disprove this conjecture (under standard complexity assumptions). We develop a general framework, denoted \emph{algebraic circuit search problems}, that captures many important problems in algebraic complexity and computational invariant theory. This framework encompasses various proof systems in proof complexity and some of the central problems in invariant theory as exposed by the Geometric Complexity Theory (GCT) program, including the aforementioned problem of computing succinct encodings for generators for invariant rings.

preprint2018arXiv

Efficient algorithms for tensor scaling, quantum marginals and moment polytopes

We present a polynomial time algorithm to approximately scale tensors of any format to arbitrary prescribed marginals (whenever possible). This unifies and generalizes a sequence of past works on matrix, operator and tensor scaling. Our algorithm provides an efficient weak membership oracle for the associated moment polytopes, an important family of implicitly-defined convex polytopes with exponentially many facets and a wide range of applications. These include the entanglement polytopes from quantum information theory (in particular, we obtain an efficient solution to the notorious one-body quantum marginal problem) and the Kronecker polytopes from representation theory (which capture the asymptotic support of Kronecker coefficients). Our algorithm can be applied to succinct descriptions of the input tensor whenever the marginals can be efficiently computed, as in the important case of matrix product states or tensor-train decompositions, widely used in computational physics and numerical mathematics. We strengthen and generalize the alternating minimization approach of previous papers by introducing the theory of highest weight vectors from representation theory into the numerical optimization framework. We show that highest weight vectors are natural potential functions for scaling algorithms and prove new bounds on their evaluations to obtain polynomial-time convergence. Our techniques are general and we believe that they will be instrumental to obtain efficient algorithms for moment polytopes beyond the ones consider here, and more broadly, for other optimization problems possessing natural symmetries.

preprint2017arXiv

Alternating minimization, scaling algorithms, and the null-cone problem from invariant theory

Alternating minimization heuristics seek to solve a (difficult) global optimization task through iteratively solving a sequence of (much easier) local optimization tasks on different parts (or blocks) of the input parameters. While popular and widely applicable, very few examples of this heuristic are rigorously shown to converge to optimality, and even fewer to do so efficiently. In this paper we present a general framework which is amenable to rigorous analysis, and expose its applicability. Its main feature is that the local optimization domains are each a group of invertible matrices, together naturally acting on tensors, and the optimization problem is minimizing the norm of an input tensor under this joint action. The solution of this optimization problem captures a basic problem in Invariant Theory, called the null-cone problem. This algebraic framework turns out to encompass natural computational problems in combinatorial optimization, algebra, analysis, quantum information theory, and geometric complexity theory. It includes and extends to high dimensions the recent advances on (2-dimensional) operator scaling. Our main result is a fully polynomial time approximation scheme for this general problem, which may be viewed as a multi-dimensional scaling algorithm. This directly leads to progress on some of the problems in the areas above, and a unified view of others. We explain how faster convergence of an algorithm for the same problem will allow resolving central open problems. Our main techniques come from Invariant Theory, and include its rich non-commutative duality theory, and new bounds on the bitsizes of coefficients of invariant polynomials. They enrich the algorithmic toolbox of this very computational field of mathematics, and are directly related to some challenges in geometric complexity theory (GCT).

preprint2010arXiv

Towards a Generic Framework to Generate Explanatory Traces of Constraint Solving and Rule-Based Reasoning

In this report, we show how to use the Simple Fluent Calculus (SFC) to specify generic tracers, i.e. tracers which produce a generic trace. A generic trace is a trace which can be produced by different implementations of a software component and used independently from the traced component. This approach is used to define a method for extending a java based CHRor platform called CHROME (Constraint Handling Rule Online Model-driven Engine) with an extensible generic tracer. The method includes a tracer specification in SFC, a methodology to extend it, and the way to integrate it with CHROME, resulting in the platform CHROME-REF (for Reasoning Explanation Facilities), which is a constraint solving and rule based reasoning engine with explanatory traces.