2 papers
math.OC2025
Automated tight Lyapunov analysis for first-order methods
Manu Upadhyaya, Sebastian Banert, Adrien B. Taylor +1
We present a methodology for establishing the existence of quadratic Lyapunov inequalities for a wide range of first-order methods used to solve convex optimization problems. In pa…
cs.RO2025
The Feeling of Success: Does Touch Sensing Help Predict Grasp Outcomes?
Roberto Calandra, Andrew Owens, Manu Upadhyaya +4
A successful grasp requires careful balancing of the contact forces. Deducing whether a particular grasp will be successful from indirect measurements, such as vision, is therefore…