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cs.RO2026
SPARSER: Sparse Variable Projection by Exploiting Separable Structure in Robotic Perception
Nikolas R. Sanderson, Andrew Fishberg, Haoyu Han +5
Robotic perception often requires solving large nonlinear least-squares (NLS) problems. While sparsity has been widely exploited to scale solvers, a complementary and underused str…
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…