4 papers
Hard-Constrained Sampling on Embedded Riemannian Manifolds via Adjoint Schrödinger Bridges
Mattia Mosso, Jaemoo Choi, Heng Yang
A variety of tasks require sampling from unnormalized Boltzmann distributions supported on manifolds. Building upon the foundations of adjoint matching and adjoint Schrödinger brid…
Provable Edge-of-Stability for Adam on a One-Dimensional Quadratic
Yiman Fong, Heng Yang
The edge-of-stability (EoS) phenomenon of Adam has been widely observed, while its underlying dynamical mechanism is not yet fully understood. We study uncorrected Adam on a one-di…
Local Second-Order Limit Dynamics of the Alternating Direction Method of Multipliers for Semidefinite Programming
Shucheng Kang, Heng Yang
The alternating direction method of multipliers (ADMM) is widely used for solving large-scale semidefinite programs (SDPs), yet on instances with multiple primal-dual optimal solut…
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…