3 papers
cs.LG2026
Goal inference with Rao-Blackwellized Particle Filters
Yixuan Wang, Dan P. Guralnik, Warren E. Dixon
Inferring the eventual goal of a mobile agent from noisy observations of its trajectory is a fundamental estimation problem. We initiate the study of such intent inference using a…
cs.LG2026
Riemannian Lyapunov Optimizer: A Unified Framework for Optimization
Yixuan Wang, Omkar Sudhir Patil, Warren E. Dixon
We introduce Riemannian Lyapunov Optimizers (RLOs), a family of optimization algorithms that unifies classic optimizers within one geometric framework. Unlike heuristic improvement…
eess.SY2025
Lyapunov-Based Kolmogorov-Arnold Network (KAN) Adaptive Control
Xuehui Shen, Wenqian Xue, Yixuan Wang +1
Recent advancements in Lyapunov-based Deep Neural Networks (Lb-DNNs) have demonstrated improved performance over shallow NNs and traditional adaptive control for nonlinear systems…