Proposes constraint manifolds with corners as a new topological structure for mixed-constraint optimization in robotics, enabling direct unconstrained optimization on the feasible set.
Nonlinear programming.Journal of the Operational Research Society, 48(3):334–334, 1997
4 Pith papers cite this work. Polarity classification is still indexing.
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UNVERDICTED 4representative citing papers
SPARCS uses a differentiable contact model and sparse Hessian solver to jointly optimize shapes and poses of up to five interacting objects, producing physically valid simulation-ready reconstructions.
Disjunctive Benders decomposition integrates disjunctive programming with Benders cuts to produce convex hull inequalities via existing oracles, removing the need for MIP master problems in mixed-binary linear programs.
A stochastic gradient flow on particle swarms driven by a softmin energy approximation converges to global minima for strongly convex functions and exhibits faster hitting times between wells than overdamped Langevin dynamics.
citing papers explorer
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CMC-Opt: Constraint Manifold with Corners for Inequality-Constrained Optimization
Proposes constraint manifolds with corners as a new topological structure for mixed-constraint optimization in robotics, enabling direct unconstrained optimization on the feasible set.
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Simulation-Ready Cluttered Scene Estimation via Physics-aware Joint Shape and Pose Optimization
SPARCS uses a differentiable contact model and sparse Hessian solver to jointly optimize shapes and poses of up to five interacting objects, producing physically valid simulation-ready reconstructions.
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Disjunctive Benders Decomposition
Disjunctive Benders decomposition integrates disjunctive programming with Benders cuts to produce convex hull inequalities via existing oracles, removing the need for MIP master problems in mixed-binary linear programs.
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Global Optimization via Softmin Energy Minimization
A stochastic gradient flow on particle swarms driven by a softmin energy approximation converges to global minima for strongly convex functions and exhibits faster hitting times between wells than overdamped Langevin dynamics.