2 papers
cs.RO2026
Diffusion Policy for Coordinated Control of a Nonholonomic Mobile Base and Dual Arms in Door Opening and Passing
Shangqun Yu, Matthew En, Daniel Wu +4
Opening heavy, self closing doors, especially those that require pulling remains a long standing challenge in robotics. Humans naturally employ both arms in a dexterous manner, rot…
math.OC2026
Robust SGLD algorithm for solving non-convex distributionally robust optimisation problems
Ariel Neufeld, Matthew Ng Cheng En, Ying Zhang
In this paper we develop a Stochastic Gradient Langevin Dynamics (SGLD) algorithm tailored for solving a certain class of non-convex distributionally robust optimisation (DRO) prob…