publications

publications by categories in reversed chronological order. generated by jekyll-scholar.

2026

  1. arXiv
    Non-Uniform Noise-to-Signal Ratio in the REINFORCE Policy-Gradient Estimator
    Haoyu Han and Heng Yang
    arxiv, 2026
    arXiv

2025

  1. RSS
    Building Rome with Convex Optimization
    Haoyu Han and Heng Yang
    In Robotics: Science and Systems (RSS), 2025
    arXiv HTML Code
  2. RSS
    On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Planning
    Yulin Li, Haoyu Han, Shucheng Kang, and 2 more authors
    In Robotics: Science and Systems (RSS), 2025
    arXiv HTML Code
  3. arXiv
    Factorization-free Orthogonal Projection onto the Positive Semidefinite Cone with Composite Polynomial Filtering
    Shucheng Kang, Haoyu Han, Antoine Groudiev, and 1 more author
    arxiv, 2025
    arXiv Code
  4. arXiv
    Sparse Variable Projection in Robotic Perception: Exploiting Separable Structure for Efficient Nonlinear Optimization
    Alan Papalia, Nikolas Sanderson, Haoyu Han, and 3 more authors
    arxiv, 2025
    arXiv

2024

  1. L4DC
    On the nonsmooth geometry and neural approximation of the optimal value function of infinite-horizon pendulum swing-up
    Haoyu Han and Heng Yang
    In Annual Learning for Dynamics and Control Conference (L4DC), 2024
    arXiv Code