From the 1 of 7 linked papers with an AI index.
7 papers
Globalized Constrained Stein Variational Inference for Diverse Feasible Robot Motion Planning
Jiayun Li, Georgia Chalvatzaki
The paper introduces SteinSQP, a constrained Stein variational inference algorithm that generates diverse, feasible robot motion plans by embedding constraints into a kernel-space…
IMPACT: An Implicit Active-Set Augmented Lagrangian for Fast Contact-Implicit Trajectory Optimization
Jiayun Li, Dejian Gong, Georgia Chalvatzaki
Contact-implicit trajectory optimization (CITO) has attracted growing attention as a unified framework for planning and control in contact-rich robotic tasks. Recent approaches hav…
Stein Variational Ergodic Surface Coverage with SE(3) Constraints
Jiayun Li, Yufeng Jin, Sangli Teng +2
Surface manipulation tasks require robots to generate trajectories that comprehensively cover complex 3D surfaces while maintaining precise end-effector poses. Existing ergodic tra…
Identification with Orthogonal Basis Functions: Convergence Speed, Asymptotic Bias, and Rate-Optimal Pole Selection
Jiayun Li, Yiwen Lu, Yilin Mo +1
This paper is concerned with performance analysis and pole selection problem in identifying linear time-invariant (LTI) systems using orthogonal basis functions (OBFs), a system id…
Conditional Generative Modeling of Stochastic LTI Systems: A Behavioral Approach
Jiayun Li, Yilin Mo
This paper presents a data-driven model for Linear Time-Invariant (LTI) stochastic systems by sampling from the conditional probability distribution of future outputs given past in…
Finite Sample Performance Analysis of MIMO Systems Identification
Shuai Sun, Jiayun Li, Yilin Mo
This paper is concerned with the finite sample identification performance of an n dimensional discrete-time Multiple-Input Multiple-Output (MIMO) Linear Time-Invariant system, with…