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math.OC2026
Non-Uniform Noise-to-Signal Ratio in the REINFORCE Policy-Gradient Estimator
Haoyu Han, Heng Yang
Policy-gradient methods are widely used in reinforcement learning, yet training often becomes unstable or slows down as learning progresses. We study this phenomenon through the no…
math.OC2025
Factorization-free Orthogonal Projection onto the Positive Semidefinite Cone with Composite Polynomial Filtering
Shucheng Kang, Haoyu Han, Antoine Groudiev +1
We propose a factorization-free method for orthogonal projection onto the positive semidefinite (PSD) cone, leveraging composite polynomial filtering. Inspired by recent advances i…
math.OC2025
On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Planning
Yulin Li, Haoyu Han, Shucheng Kang +2
Contact-implicit motion planning-embedding contact sequencing as implicit complementarity constraints-holds the promise of leveraging continuous optimization to discover new contac…