2 citations · 2 across the 3 of their papers we have counts for
4 papers · 1 filter
Robustness of Robotic Manipulation: Foundations and Frontiers
Yifei Dong, Zhanyi Sun, Lujie Yang +5
Humans and animals exhibit remarkable robustness in physical manipulation, yet robots remain far behind. Progress toward human-level manipulation robustness is hindered by the abse…
A New Semidefinite Relaxation for Linear and Piecewise-Affine Optimal Control with Time Scaling
Lujie Yang, Tobia Marcucci, Pablo A. Parrilo +1
We introduce a semidefinite relaxation for optimal control of linear systems with time scaling. These problems are inherently nonconvex, since the system dynamics involves bilinear…
Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization
Lujie Yang, H. J. Terry Suh, Tong Zhao +5
We present a low-cost data generation pipeline that integrates physics-based simulation, human demonstrations, and model-based planning to efficiently generate large-scale, high-qu…
Lyapunov-stable neural-network control
Hongkai Dai, Benoit Landry, Lujie Yang +2
Deep learning has had a far reaching impact in robotics. Specifically, deep reinforcement learning algorithms have been highly effective in synthesizing neural-network controllers…