Photo

Lujie Yang

I am a final-year PhD student at MIT EECS advised by Prof. Russ Tedrake. I obtained my bachelor's degree from UC Berkeley, under the mentorship of Prof. Francesco Borrelli.

I am interested in the planning and control of robotic systems using optimization, control theory and machine learning. My research seeks to enable robots to operate robustly and intelligently, with theoretical guarantees, by combining data-driven and model-based optimization techniques.

I love playing badminton, visiting museums and writing classical Chinese poetry. Here is a selected collection of my poems.

I am seeking a research-oriented position in industry. If you think my expertise aligns with your needs, please feel free to reach out.

   /      /   lujie [at] mit (dot) edu



News


Selected Publications

(* indicates equal contribution)

A New Semidefinite Relaxation for Linear and Pieceweise-Affine Optimal Control with Time Scaling
Lujie Yang, Tobia Marcucci, Pablo Parrilo, Russ Tedrake
[Paper]

Lyapunov-stable Neural Control for State and Output Feedback: A Novel Formulation
Lujie Yang*, Hongkai Dai*, Zhouxing Shi, Cho-Jui Hsieh, Russ Tedrake, Huan Zhang
International Conference on Machine Learning (ICML) 2024
[Paper] [Code] [MIT News]

Fighting Uncertainty with Gradients: Offline Reinforcement Learning via Diffusion Score Matching
H.J. Terry Suh, Glen Chou*, Hongkai Dai*, Lujie Yang*, Abhishek Gupta, Russ Tedrake
Conference on Robot Learning (CoRL) 2023
[Project] [Paper] [Code]

Approximate Optimal Controller Synthesis for Cart-Poles and Quadrotors via Sums-of-Squares
Lujie Yang, Hongkai Dai, Alexandre Amice, Russ Tedrake
Robotics and Automation Letters (RA-L) 2023
MIT LIDS Student Conference 2023, Best Presentation Award
[Video] [Paper] [Code]

Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-Dynamic Contact Models
Tao Pang*, H.J. Terry Suh*, Lujie Yang, Russ Tedrake
Transactions on Robotics (T-RO) 2023, King-Sun Fu Memorial Best Paper Award Honorable Mention
[Project] [Paper] [Code] [MIT News]

Discrete Approximate Information States in Partially Observable Environments
Lujie Yang, Kaiqing Zhang, Alexandre Amice, Yunzhu Li, Russ Tedrake
American Control Conference (ACC) 2022
[Paper]

Lyapunov-stable neural-network control
Hongkai Dai, Benoit Landry, Lujie Yang, Marco Pavone, Russ Tedrake
Robotics: Science and Systems (RSS) 2021
[Paper] [Code]



Selected Honors


Teaching



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