5 papers
RapidDOC: Riccati-Preconditioned Implicit Differentiation for Differentiable Optimal Control under Operator Mismatch
Xiangda Zhu, Yuankun Chen, Zifei Nie +1
Differentiable optimal control embeds constrained optimization problems in data-driven pipelines by differentiating their optimality conditions and propagating task-loss gradients…
lapanda: A Matrix-Free Differentiable Solver for Nonconvex Constrained Optimization Layers
Yuankun Chen, Zifei Nie, Kangyu Lin +2
Differentiable optimization brings the structural guarantees of mathematical optimization to network pipelines, allowing them to be trained end-to-end. However, its application rem…
PANDA: A Matrix-Free Differentiable NMPC Solver via Proximal Averaged Quasi-Newton with Adaptive Linesearch Algorithm
Yuankun Chen, Zifei Nie, Xun Gong +2
Differentiable nonlinear model predictive control (NMPC) provides a principled way to embed optimal control structure into end-to-end learning paradigms, but its practical use is o…
Frozen LLMs as Map-Aware Spatio-Temporal Reasoners for Vehicle Trajectory Prediction
Yanjiao Liu, Jiawei Liu, Xun Gong +1
Large language models (LLMs) have recently demonstrated strong reasoning capabilities and attracted increasing research attention in the field of autonomous driving (AD). However,…
A Gauss-Newton-Induced Structure-Exploiting Algorithm for Differentiable Optimal Control
Yuankun Chen, Zifei Nie, Xun Gong +2
Differentiable optimal control, particularly differentiable nonlinear model predictive control (NMPC), provides a powerful framework that enjoys the complementary benefits of machi…