Heng Yang

収録論文 37本 ・ フィジカルAI/ロボット学習

※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。

論文

• X4Val: Learning Neural Surrogates for Variance-Reduced Policy Evaluation
  2026/6/1
• BEACON: Cross-Domain Co-Training of Generative Robot Policies via Best-Effort Adaptation
  2026/5/1
• Tempered Sequential Monte Carlo for Trajectory and Policy Optimization with Differentiable Dynamics
  2026/4/1
• Accelerating Structured Chain-of-Thought in Autonomous Vehicles
  2026/2/1
• Advances in Global Solvers for 3D Vision
  2026/2/1
• Sparse Variable Projection in Robotic Perception: Exploiting Separable Structure for Efficient Nonlinear Optimization
  2025/12/1
• Flexible Locomotion Learning with Diffusion Model Predictive Control
  2025/10/1
• MoTVLA: A Vision-Language-Action Model with Unified Fast-Slow Reasoning
  2025/10/1
• Compose by Focus: Scene Graph-based Atomic Skills
  2025/9/1
• Sim2Val: Leveraging Correlation Across Test Platforms for Variance-Reduced Metric Estimation
  2025/6/1
• Global Contact-Rich Planning with Sparsity-Rich Semidefinite Relaxations
  2025/2/1
• Building Rome with Convex Optimization
  2025/2/1
• Online Aggregation of Trajectory Predictors
  2025/2/1
• On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Planning
  2025/2/1
• Inference-Time Enhancement of Generative Robot Policies via Predictive World Modeling
  2025/2/1
• LoRA3D: Low-Rank Self-Calibration of 3D Geometric Foundation Models
  2024/12/1
• Learning Multiple Initial Solutions to Optimization Problems
  2024/11/1
• Control-oriented Clustering of Visual Latent Representation
  2024/10/1
• Fast and Certifiable Trajectory Optimization
  2024/6/1
• CLOSURE: Fast Quantification of Pose Uncertainty Sets
  2024/3/1
• Uncertainty Quantification of Set-Membership Estimation in Control and Perception: Revisiting the Minimum Enclosing Ellipsoid
  2023/11/1
• SIM-Sync: From Certifiably Optimal Synchronization over the 3D Similarity Group to Scene Reconstruction with Learned Depth
  2023/9/1
• Verification and Synthesis of Robust Control Barrier Functions: Multilevel Polynomial Optimization and Semidefinite Relaxation
  2023/3/1
• Object Pose Estimation with Statistical Guarantees: Conformal Keypoint Detection and Geometric Uncertainty Propagation
  2023/3/1
• Optimal and Robust Category-level Perception: Object Pose and Shape Estimation from 2D and 3D Semantic Keypoints
  2022/6/1
• Certifiably Optimal Outlier-Robust Geometric Perception: Semidefinite Relaxations and Scalable Global Optimization
  2021/9/1
• Optimal Pose and Shape Estimation for Category-level 3D Object Perception
  2021/4/1
• Self-supervised Geometric Perception
  2021/3/1
• Dynamical Pose Estimation
  2021/3/1
• ROBIN: a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants
  2020/11/1
• Outlier-Robust Estimation: Hardness, Minimally Tuned Algorithms, and Applications
  2020/7/1
• One Ring to Rule Them All: Certifiably Robust Geometric Perception with Outliers
  2020/6/1
• TEASER: Fast and Certifiable Point Cloud Registration
  2020/1/1
• In Perfect Shape: Certifiably Optimal 3D Shape Reconstruction from 2D Landmarks
  2019/11/1
• Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection
  2019/9/1
• A Quaternion-based Certifiably Optimal Solution to the Wahba Problem with Outliers
  2019/5/1
• A Polynomial-time Solution for Robust Registration with Extreme Outlier Rates
  2019/3/1