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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.

   /      /   lujie [at] mit (dot) edu



Publications

(* indicates equal contribution)
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
[Project] [Paper] [Code]
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]
Shared Perception for Connected and Automated Vehicles
Yeojun Kim, Luca Onesto, Samuel Tay, Lujie Yang, Jacopo Guanetti, Sergio Savaresi, Francesco Borrelli
IEEE Intelligent Vehicles Symposium (IV) 2020
[Paper]


Selected Honors


Teaching


© Massachusetts Institute of Technology 2020