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cs.LG2026
Learning Reduced-Order Dynamics with Singularity via Latent-Augmented Neural Ordinary Differential Equations
Xiaorui Wang, Yu Zhou, Wenjie Mei +3
This paper addresses the issue of self-intersecting trajectories (in phase space) in industrial reduced-order modeling and proposes the Latent-Augmented Neural Ordinary Differentia…
cs.RO2026
Robust Path Tracking for Vehicles via Continuous-Time Residual Learning: An ICODE-MPPI Approach
Shugen Song, Wenjie Mei, Chengyan Zhao
Model Predictive Path Integral (MPPI) control is a powerful sampling-based strategy for nonlinear autonomous systems. However, its performance is often bottlenecked by the fidelity…
math.OC2026
A Posteriori Second-Order Guarantees for Bolza Problems via Collocation
Dongzhe Zheng, Wenjie Mei
Direct collocation for Bolza optimal control yields discrete Karush-Kuhn-Tucker (KKT) points, while practical solvers expose only discrete quantities such as primal-dual iterates,…