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cs.RO2025
Sparse Variable Projection in Robotic Perception: Exploiting Separable Structure for Efficient Nonlinear Optimization
Alan Papalia, Nikolas Sanderson, Haoyu Han +3
Robotic perception often requires solving large nonlinear least-squares (NLS) problems. While sparsity has been well-exploited to scale solvers, a complementary and underexploited…
cs.RO2025
Building Rome with Convex Optimization
Haoyu Han, Heng Yang
Global bundle adjustment is made easy by depth prediction and convex optimization. We (i) propose a scaled bundle adjustment (SBA) formulation that lifts 2D keypoint measurements t…
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…