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cs.LG2026
Riemannian Lyapunov Framework: Optimization as Closed Loop Control on Riemannian Manifolds
Yixuan Wang, Omkar Sudhir Patil, Warren E. Dixon
We introduce the Riemannian Lyapunov Framework (RLF), a unified framework that represents first order optimization as a closed loop controlled dynamical system on a Riemannian para…
cs.LG2025
Goal inference with Rao-Blackwellized Particle Filters
Yixuan Wang, Dan P. Guralnik, Warren E. Dixon
Inferring the eventual goal of a mobile agent from noisy observations of its trajectory is a fundamental estimation problem. We initiate the study of such intent inference using a…