3 papers
eess.SY2026
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…
cs.RO2026
Open-Ended Instruction Realization with LLM-Enabled Multi-Planner Scheduling in Autonomous Vehicles
Jiawei Liu, Xun Gong, Fen Fang +6
Most Human-Machine Interaction (HMI) research overlooks the maneuvering needs of passengers in autonomous driving (AD). Natural language offers an intuitive interface, yet translat…
eess.SY2025
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…