4 papers · 1 filter
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…
Local Linear Convergence of the Alternating Direction Method of Multipliers for Semidefinite Programming under Strict Complementarity
Shucheng Kang, Xin Jiang, Heng Yang
We investigate the local linear convergence properties of the Alternating Direction Method of Multipliers (ADMM) when applied to Semidefinite Programming (SDP). A longstanding beli…
Global Contact-Rich Planning with Sparsity-Rich Semidefinite Relaxations
Shucheng Kang, Guorui Liu, Heng Yang
We show that contact-rich motion planning is also sparsity-rich when viewed as polynomial optimization (POP). We can exploit not only the correlative and term sparsity patterns tha…
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…