Please see my Google Scholar for a full list of publications.
2024
-
Discounted Adaptive Online Prediction
Zhang, Zhiyu, Bombara, David, and Yang, Heng
arXiv preprint arXiv:2402.02720 2024
-
Sparse Polynomial Optimization with Unbounded Sets
Huang, Lei, Kang, Shucheng, Wang, Jie, and Yang, Heng
arXiv preprint arXiv:2401.15837 2024
-
SIM-Sync: From Certifiably Optimal Synchronization over the 3D Similarity Group to Scene Reconstruction with Learned Depth
Yu, Xihang, and Yang, Heng
IEEE Robotics and Automation Letters 2024
2023
-
On the Nonsmooth Geometry and Neural Approximation of the Optimal Value Function of Infinite-Horizon Pendulum Swing-up
Han, Haoyu, and Yang, Heng
arXiv preprint arXiv:2312.17467 2023
-
Uncertainty Quantification of Set-Membership Estimation in Control and Perception: Revisiting the Minimum Enclosing Ellipsoid
Tang, Yukai, Lasserre, Jean-Bernard, and Yang, Heng
arXiv preprint arXiv:2311.15962 2023
-
PAC-Bayes Generalization Certificates for Learned Inductive Conformal Prediction
Sharma, Apoorva, Veer, Sushant, Hancock, Asher,
Yang, Heng, Pavone, Marco, and Majumdar, Anirudha
In Conference on Neural Information Processing Systems 2023
-
Verification and Synthesis of Robust Control Barrier Functions: Multilevel Polynomial Optimization and Semidefinite Relaxation
Kang, Shucheng, Chen, Yuxiao,
Yang, Heng, and Pavone, Marco
In IEEE Conf. on Decision and Control (CDC) 2023
-
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
10% of accepted papers, 2.5% of all submissions
-
Optimal and Robust Category-level Perception: Object Pose and Shape Estimation from 2D and 3D Semantic Keypoints
Shi, Jingnan,
Yang, Heng, and Carlone, Luca
IEEE Transactions on Robotics 2023
2022
-
-
Certifiably Optimal Outlier-Robust Geometric Perception: Semidefinite Relaxations and Scalable Global Optimization
Yang, Heng, and Carlone, Luca
IEEE Trans. Pattern Anal. Machine Intell. 2022
-
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 2022
2021
-
Dynamical Pose Estimation
Yang, Heng, Doran, Chris, and Slotine, Jean-Jacques
In Intl. Conf. on Computer Vision (ICCV) 2021
-
ROBIN: a graph-theoretic approach to reject outliers in robust estimation using invariants
Shi, Jingnan,
Yang, Heng, and Carlone, Luca
In IEEE Intl. Conf. on Robotics and Automation (ICRA) 2021
-
Self-supervised geometric perception
Yang, Heng, Dong, Wei, Carlone, Luca, and Koltun, Vladlen
In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR) 2021
-
-
Outlier-robust estimation: Hardness, minimally tuned algorithms, and applications
Antonante, Pasquale, Tzoumas, Vasileios,
Yang, Heng, and Carlone, Luca
IEEE Transactions on Robotics 2021
2020
-
One ring to rule them all: Certifiably robust geometric perception with outliers
Yang, Heng, and Carlone, Luca
Advances in neural information processing systems 2020
-
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
Best Paper Award in Robot Vision, ICRA 2020; Best Paper Award Honorable Mention, RAL 2020.
-
Teaser: Fast and certifiable point cloud registration
Yang, Heng, Shi, Jingnan, and Carlone, Luca
IEEE Transactions on Robotics 2020
-
In Perfect Shape: Certifiably Optimal 3D Shape Reconstruction from 2D Landmarks
Yang, Heng, and Carlone, Luca
In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR) 2020
2019
-
A quaternion-based certifiably optimal solution to the Wahba problem with outliers
Yang, Heng, and Carlone, Luca
In Proceedings of the IEEE/CVF International Conference on Computer Vision 2019
-