Publications

Some personal favorites. See my Google Scholar for a full list.

2025

  1. Preprint
    Local Linear Convergence of the Alternating Direction Method of Multipliers for Semidefinite Programming under Strict Complementarity
    Kang, Shucheng, Jiang, Xin, and Yang, Heng
    Mathematical Programming (Under Review) 2025
    PDF
  2. RSS
    On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Planning
    Li, Yulin, Han, Haoyu, Kang, Shucheng, Ma, Jun, and Yang, Heng
    In Robotics: Science and Systems (RSS) 2025
    PDF Code Website
  3. RSS
    Global Contact-Rich Planning with Sparsity-Rich Semidefinite Relaxations
    Kang, Shucheng, Liu, Guorui, and Yang, Heng
    In Robotics: Science and Systems (RSS) 2025
    PDF Code Website
  4. RSS
    Building Rome with Convex Optimization
    Han, Haoyu, and Yang, Heng
    In Robotics: Science and Systems (RSS) 2025
    PDF Code Website
  5. ICLR
    Control-oriented Clustering of Visual Latent Representation
    Qi, Han, Yin, Haocheng, and Yang, Heng
    In International Conference on Learning Representations (ICLR) 2025
    PDF Website

2024

  1. WAFR
    Fast and Certifiable Trajectory Optimization
    Kang, Shucheng, Xu, Xiaoyang, Sarva, Jay, Liang, Ling, and Yang, Heng
    In International Workshop on the Algorithmic Foundations of Robotics 2024
    PDF Website Award
  2. NeurIPS
    Fast TRAC: A Parameter-Free Optimizer for Lifelong Reinforcement Learning
    Muppidi, Aneesh, Zhang, Zhiyu, and Yang, Heng
    In Conference on Neural Information Processing Systems (NeurIPS) 2024
    PDF Website

2023

  1. CVPR
    Object Pose Estimation with Statistical Guarantees: Conformal Keypoint Detection and Geometric Uncertainty Propagation
    Yang, Heng, and Pavone, Marco
    In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR) 2023
    PDF Video Highlight
  2. Math. Program.
    An Inexact Projected Gradient Method with Rounding and Lifting by Nonlinear Programming for Solving Rank-One Semidefinite Relaxation of Polynomial Optimization
    Yang, Heng, Liang, Ling, Carlone, Luca, and Toh, Kim-Chuan
    Mathematical Programming 2023
    PDF Code News

2022

  1. TPAMI
    Certifiably Optimal Outlier-Robust Geometric Perception: Semidefinite Relaxations and Scalable Global Optimization
    Yang, Heng, and Carlone, Luca
    IEEE Trans. Pattern Anal. Machine Intell. 2022
    PDF Code

2021

  1. CVPR
    Self-supervised geometric perception
    Yang, Heng, Dong, Wei, Carlone, Luca, and Koltun, Vladlen
    In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR) 2021
    PDF Code

2020

  1. RAL
    Graduated non-convexity for robust spatial perception: From non-minimal solvers to global outlier rejection
    Yang, Heng, Antonante, Pasquale, Tzoumas, Vasileios, and Carlone, Luca
    IEEE Robotics and Automation Letters 2020
    PDF Code Award News
  2. TRO
    Teaser: Fast and certifiable point cloud registration
    Yang, Heng, Shi, Jingnan, and Carlone, Luca
    IEEE Transactions on Robotics 2020
    PDF Code

2019

  1. ICCV
    A quaternion-based certifiably optimal solution to the Wahba problem with outliers
    Yang, Heng, and Carlone, Luca
    In Intl. Conf. on Computer Vision (ICCV) 2019
    PDF Code