3 papers
cs.RO2026
SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization
Zhuocheng Zhang, Haizhou Zhao, Xudong Sun +2
Robotic tasks involving contact interactions pose significant challenges for trajectory optimization due to discontinuous dynamics. Conventional formulations typically assume deter…
cs.RO2026
Consensus-based optimization (CBO): Towards Global Optimality in Robotics
Xudong Sun, Armand Jordana, Massimo Fornasier +2
Zero-order optimization has recently received significant attention for designing optimal trajectories and policies for robotic systems. However, most existing methods (e.g., MPPI,…
math.OC2026
Convergence of Consensus-Based Particle Methods for Nonconvex Bi-Level Optimization
Yutong Chao, Xudong Sun, Konstantin Riedl +2
In this paper, we study a consensus-based optimization method for nonconvex bi-level optimization, where the objective is to minimize an upper-level function over the set of global…