3 papers
cs.RO2026
O-ConNet: Geometry-Aware End-to-End Inference of Over-Constrained Spatial Mechanisms
Haoyu Sun, Meng Zhao, Tianhao Wang +1
Deep learning has shown strong potential for scientific discovery, but its ability to model macroscopic rigid-body kinematic constraints remains underexplored. We study this proble…
math.OC2026
Online Learning for Supervisory Switching Control
Haoyuan Sun, Ali Jadbabaie
We study supervisory switching control for partially-observed linear dynamical systems. The objective is to identify and deploy a suitable controller for the unknown system by peri…
cs.RO2024
Improving Offline Reinforcement Learning with Inaccurate Simulators
Yiwen Hou, Haoyuan Sun, Jinming Ma +1
Offline reinforcement learning (RL) provides a promising approach to avoid costly online interaction with the real environment. However, the performance of offline RL highly depend…