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cs.LG2025
A Fully First-Order Layer for Differentiable Optimization
Zihao Zhao, Kai-Chia Mo, Shing-Hei Ho +2
Differentiable optimization layers enable learning systems to make decisions by solving embedded optimization problems. However, computing gradients via implicit differentiation re…
cs.RO2025
DiffDef: A Diffusion Model for Generating Multimodal Goal Shapes From Demonstrations for Deformable Object Manipulation
Bao Thach, Tanner Watts, Siyeon Kim +6
Deformable object manipulation is a key capability in many robotic applications. A promising paradigm for this problem is shape servoing, which aims to control deformable objects t…