Lujie Yang

Lujie Yang

I am a 4th 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 and Control theory. 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.

/ / lujie [at] mit (dot) edu

News

[2024/05] I will be giving a talk on Certifiable Controller Synthesis for Underactuated Robotic Systems at Northeast Systems and Control Workshop 2024.
[2024/04] Our T-RO paper got Honorable Mention for 2023 T-RO King-Sun Fu Memorial Best Paper Award of the Year.
[2024/03] I will be giving a talk at UIUC Human-Centered Autonomy Lab. (Slides)
[2023/02] I won the Best Presentation Award at MIT LIDS Student Conference 2023.

Publications

(* indicates equal contribution)

Lyapunov-stable Neural Control for State and Output Feedback: A Novel Formulation for Efficient Synthesis and Verification
Lujie Yang*, Hongkai Dai*, Zhouxing Shi, Cho-Jui Hsieh, Russ Tedrake, Huan Zhang
Under Review 2024
[Paper] [Code]

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

MIT Presidential Graduate Fellowship, 2020
MIT Richard C. Dupont Fellowship, 2021
MIT Tung/Lewis Fellowship, 2020

Teaching

6.832: Underactuated Robotics, MIT
ME 131: Vehicel Dynamics and Control, UC Berkeley