Francisco Andrade

Linus Bleistein, Mathieu Dagréou, Francisco Andrade et al.

Ensuring fairness in matching algorithms is a key challenge in allocating scarce resources and positions. Focusing on Optimal Transport (OT), we introduce a novel notion of group fairness requiring that the probability of matching two individuals from any two given groups in the OT plan satisfies a predefined target. We first propose \texttt{FairSinkhorn}, a modified Sinkhorn algorithm to compute perfectly fair transport plans efficiently. Since exact fairness can significantly degrade matching quality in practice, we then develop two relaxation strategies. The first one involves solving a penalised OT problem, for which we derive novel finite-sample complexity guarantees. This result is of independent interest as it can be generalized to arbitrary convex penalties. Our second strategy leverages bilevel optimization to learn a ground cost that induces a fair OT solution, and we establish a bound guaranteeing that the learned cost yields fair matchings on unseen data. Finally, we present empirical results that illustrate the trade-offs between fairness and performance.

Francisco Andrade, Gabriel Peyré, Clarice Poon

Estimating parameters from samples of an optimal probability distribution is essential in applications ranging from socio-economic modeling to biological system analysis. In these settings, the probability distribution arises as the solution to an optimization problem that captures either static interactions among agents or the dynamic evolution of a system over time. We introduce a general methodology based on a new class of loss functions, called sharpened Fenchel-Young losses, which measure the sub-optimality gap of the optimization problem over the space of probability measures. We provide explicit stability guarantees for two relevant settings in the context of optimal transport: The first is inverse unbalanced optimal transport (iUOT) with entropic regularization, where the parameters to estimate are cost functions that govern transport computations; this method has applications such as link prediction in machine learning. The second is inverse gradient flow (iJKO), where the objective is to recover a potential function that drives the evolution of a probability distribution via the Jordan-Kinderlehrer-Otto (JKO) time-discretization scheme; this is particularly relevant for understanding cell population dynamics in single-cell genomics. We also establish source conditions to ensure stability of our method under mirror stratifiable regularizers (such as l1 or nuclear norm) that promote structure. Finally, we present optimization algorithms specifically tailored to efficiently solve iUOT and iJKO problems. We validate our approach through numerical experiments on Gaussian distributions, where closed-form solutions are available, to demonstrate the practical performance of our methods.

Stefano Dafarra, Gabriele Nava, Marie Charbonneau et al.

A common approach to the generation of walking patterns for humanoid robots consists in adopting a layered control architecture. This paper proposes an architecture composed of three nested control loops. The outer loop exploits a robot kinematic model to plan the footstep positions. In the mid layer, a predictive controller generates a Center of Mass trajectory according to the well-known table-cart model. Through a whole-body inverse kinematics algorithm, we can define joint references for position controlled walking. The outcomes of these two loops are then interpreted as inputs of a stack-of-task QP-based torque controller, which represents the inner loop of the presented control architecture. This resulting architecture allows the robot to walk also in torque control, guaranteeing higher level of compliance. Real world experiments have been carried on the humanoid robot iCub.