4 citations · 4 across the 5 of their papers we have counts for
5 papers
ContactIPM: A Structure-Exploiting Interior-Point Solver for Contact-Implicit Trajectory Optimization
Yucheng Chen
Contact-implicit trajectory optimization avoids prescribing contact sequences, but yields mathematical programs with complementarity constraints (MPCCs) whose degeneracy challenges…
Feasibility-Guided Planning over Multi-Specialized Locomotion Policies
Ying-Sheng Luo, Lu-Ching Wang, Hanjaya Mandala +6
Planning over unstructured terrain presents a significant challenge in the field of legged robotics. Although recent works in reinforcement learning have yielded various locomotion…
TurboADMM: A Structure-Exploiting Parallel Solver for Multi-Agent Trajectory Optimization
Yucheng Chen
Multi-agent trajectory optimization with dense interaction networks require solving large coupled QPs at control rates, yet existing solvers fail to simultaneously exploit temporal…
Heuristic Satisficing Inferential Decision Making in Human and Robot Active Perception
Yucheng Chen, Pingping Zhu, Anthony Alers +3
Inferential decision-making algorithms typically assume that an underlying probabilistic model of decision alternatives and outcomes may be learned a priori or online. Furthermore,…
A gradual, semi-discrete approach to generative network training via explicit Wasserstein minimization
Yucheng Chen, Matus Telgarsky, Chao Zhang +3
This paper provides a simple procedure to fit generative networks to target distributions, with the goal of a small Wasserstein distance (or other optimal transport costs). The app…