2 papers
cs.RO2026
Early-Terminable Energy-Safe Iterative Coupling for Parallel Simulation of Partitioned Port-Hamiltonian Systems
Qi Wei, Jianfeng Tao, Hongyu Nie +1
Parallel simulation of robotic systems requires partitioning the dynamics into coupled subsystems. Finite-iteration coupling across the partition boundary can inject spurious energ…
math.OC2026
Featurized Occupation Measures for Structured Global Search in Numerical Optimal Control
Qi Wei, Jianfeng Tao, Haoyang Tan +1
Numerical optimal control has long been split between globally structured but dimensionally intractable Hamilton--Jacobi--Bellman (HJB) methods and scalable but local trajectory op…