3 papers
math.OC2026
Improved Convergence for Decentralized Stochastic Optimization with Biased Gradients
Qing Xu, Yiwei Liao, Wenqi Fan +2
Decentralized stochastic optimization has emerged as a fundamental paradigm for large-scale machine learning. However, practical implementations often rely on biased gradient estim…
math.OC2026
Stochastic Momentum Tracking Push-Pull for Decentralized Optimization over Directed Graphs
Wenqi Fan, Yiwei Liao, Qing Xu +2
Decentralized optimization over directed networks is frequently challenged by asymmetric communication and the inherent high variance of stochastic gradients, which collectively ca…
cs.RO2025
Geometric Iterative Approach for Efficient Inverse Kinematics and Planning of Continuum Robots with a Floating Base Under Environment Constraints
Congjun Ma, Quan Xiao, Liangcheng Liu +2
Continuum robots with floating bases demonstrate exceptional operational capabilities in confined spaces, such as those encountered in medical surgeries and equipment maintenance.…