29 citations · 58 across the 15 of their papers we have counts for
6 papers · 1 filter
ReDUCE: Reformulation of Mixed Integer Programs using Data from Unsupervised Clusters for Learning Efficient Strategies
Xuan Lin, Gabriel I. Fernandez, Dennis W. Hong
Mixed integer convex and nonlinear programs, MICP and MINLP, are expressive but require long solving times. Recent work that combines learning methods on solver heuristics has show…
An Under-Actuated Whippletree Mechanism Gripper based on Multi-Objective Design Optimization with Auto-Tuned Weights
Yusuke Tanaka, Yuki Shirai, Zachary Lacey +3
Current rigid linkage grippers are limited in flexibility, and gripper design optimality relies on expertise, experiments, or arbitrary parameters. Our proposed rigid gripper can a…
Designing Multi-Stage Coupled Convex Programming with Data-Driven McCormick Envelope Relaxations for Motion Planning
Xuan Lin, Min Sung Ahn, Dennis Hong
For multi-limbed robots, motion planning with posture and force constraints tends to be a difficult optimization problem due to nonlinearities, which also present extended solve ti…
Transition Motion Planning for Multi-Limbed Vertical Climbing Robots Using Complementarity Constraints
Jingwen Zhang, Xuan Lin, Dennis W Hong
In order to achieve autonomous vertical wall climbing, the transition phase from the ground to the wall requires extra consideration inevitably. This paper focuses on the contact s…
On anisotropic non-Lipschitz restoration model: lower bound theory and convergent algorithm
Chunlin Wu, Xuan Lin, Yufei Zhao
For nonconvex and nonsmooth restoration models, the lower bound theory reveals their good edge recovery ability, and related analysis can help to design convergent algorithms. Exis…
LTO: Lazy Trajectory Optimization with Graph-Search Planning for High DOF Robots in Cluttered Environments
Yuki Shirai, Xuan Lin, Ankur Mehta +1
Although Trajectory Optimization (TO) is one of the most powerful motion planning tools, it suffers from expensive computational complexity as a time horizon increases in cluttered…