5 papers
Turning Stale Gradients into Stable Gradients: Coherent Coordinate Descent with Implicit Landscape Smoothing for Lightweight Zeroth-Order Optimization
Chen Liang, Xiatao Sun, Qian Wang +1
Zeroth-Order (ZO) optimization is pivotal for scenarios where backpropagation is unavailable, such as memory-constrained on-device learning and black-box optimization. However, exi…
Subsecond 3D Mesh Generation for Robot Manipulation
Qian Wang, Omar Abdellall, Tony Gao +2
3D meshes are a fundamental representation widely used in computer science and engineering. In robotics, they are particularly valuable because they capture objects in a form that…
Mesh RAG: Retrieval Augmentation for Autoregressive Mesh Generation
Xiatao Sun, Chen Liang, Qian Wang +1
3D meshes are a critical building block for applications ranging from industrial design and gaming to simulation and robotics. Traditionally, meshes are crafted manually by artists…
Coherence-based Approximate Derivatives via Web of Affine Spaces Optimization
Daniel Rakita, Chen Liang, Qian Wang
Computing derivatives is a crucial subroutine in computer science and related fields as it provides a local characterization of a function's steepest directions of ascent or descen…
ad-trait: A Fast and Flexible Automatic Differentiation Library in Rust
Chen Liang, Qian Wang, Andy Xu +1
The Rust programming language is an attractive choice for robotics and related fields, offering highly efficient and memory-safe code. However, a key limitation preventing its broa…