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Sidharth Sharma

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2

NeurIPS Conference 2025 Conference Paper

Efficient Adaptive Federated Optimization

  • Su Hyeong Lee
  • Sidharth Sharma
  • Manzil Zaheer
  • Tian Li

Adaptive optimization is critical in federated learning, where enabling adaptivity on both the server and client sides has proven essential for achieving optimal performance. However, the scalability of such jointly adaptive systems is often hindered by resource limitations in communication and memory. In this paper, we introduce a class of efficient adaptive algorithms, named $FedAda^2$ and its enhanced version $FedAda^2$++, designed specifically for large-scale, cross-device federated environments. $FedAda^2$ optimizes communication efficiency by avoiding the transfer of preconditioners between the server and clients. Additionally, $FedAda^2$++ extends this approach by incorporating memory-efficient adaptive optimizers on the client side, further reducing on-device memory usage. Theoretically, we demonstrate that $FedAda^2$ and $FedAda^2$++ achieve the same convergence rates for general, non-convex objectives as its more resource-intensive counterparts that directly integrate joint adaptivity. Extensive empirical evaluations on image and text datasets demonstrate both the advantages of joint adaptivity and the effectiveness and efficiency of $FedAda^2$/$FedAda^2$++.

ICRA Conference 2019 Conference Paper

Kinematic Constraints Based Bi-directional RRT (KB-RRT) with Parameterized Trajectories for Robot Path Planning in Cluttered Environment

  • Dibyendu Ghosh
  • Ganeshram Nandakumar
  • Karthik Narayanan
  • Vinayak Honkote
  • Sidharth Sharma

Optimal path planning and smooth trajectory planning are critical for effective navigation of mobile robots working towards accomplishing complex missions. For autonomous, real time and extended operations of mobile robots, the navigation capability needs to be executed at the edge. Thus, efficient compute, minimum memory utilization and smooth trajectory are the key parameters that drive the successful operation of autonomous mobile robots. Traditionally, navigation solutions focus on developing robust path planning algorithms which are complex and compute/memory intensive. Bidirectional-RRT(Bi-RRT) based path planning algorithms have gained increased attention due to their effectiveness and computational efficiency in generating feasible paths. However, these algorithms neither optimize memory nor guarantee smooth trajectories. To this end, we propose a kinematically constrained Bi-RRT (KB-RRT) algorithm, which restricts the number of nodes generated without compromising on the accuracy and incorporates kinodynamic constraints for generating smooth trajectories, together resulting in efficient navigation of autonomous mobile robots. The proposed algorithm is tested in a highly cluttered environment on an Ackermannsteering vehicle model with severe kinematic constraints. The experimental results demonstrate that KB-RRT achieves three times (3 X) better performance in terms of convergence rate and memory utilization compared to a standard Bi-RRT algorithm.

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