4 papers
Multimodal MPC via Bayesian Set Optimization for Dynamic Manipulation of Deformable Linear Objects
Youyuan Long, Gokhan Solak, Arash Ajoudani
Dynamic manipulation of deformable linear objects (DLOs) remains challenging due to underactuated, high-dimensional dynamics, delayed deformation responses, and the presence of mul…
Dissipative Latent Residual Physics-Informed Neural Networks for Modeling and Identification of Electromechanical Systems
Youyuan Long, Gokhan Solak, Arash Ajoudani
Accurate dynamical modeling is essential for simulation and control of embodied systems, yet first-principles models of electromechanical systems often fail to capture complex diss…
Self-supervised Physics-Informed Manipulation of Deformable Linear Objects with Non-negligible Dynamics
Youyuan Long, Gokhan Solak, Sara Zeynalpour +2
We address dynamic manipulation of deformable linear objects by presenting SPiD, a physics-informed self-supervised learning framework that couples an accurate deformable object mo…
Scalable Kernel Inverse Optimization
Youyuan Long, Tolga Ok, Pedro Zattoni Scroccaro +1
Inverse Optimization (IO) is a framework for learning the unknown objective function of an expert decision-maker from a past dataset. In this paper, we extend the hypothesis class…