Dejian Gong — accepted AI-conference papers

2026

IMPACT: An Implicit Active-Set Augmented Lagrangian for Fast Contact-Implicit Trajectory Optimization

Jiayun Li, Dejian Gong, Georgia Chalvatzaki

RSS 2026poster

Contact-implicit trajectory optimization (CITO) has attracted growing attention as a unified framework for planning and control in contact-rich robotic tasks. Recent approaches have demonstrated promising results in manipulation and locomotion without requiring a prescribed contact-mode schedule. It…

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2026

Stein Variational Ergodic Surface Coverage with SE(3) Constraints

Jiayun Li, Yufeng Jin, Sangli Teng, Dejian Gong, Georgia Chalvatzaki

ICRA 2026poster

Surface manipulation tasks require robots to generate trajectories that comprehensively cover complex 3D surfaces while maintaining precise end-effector poses. Existing ergodic trajectory optimization (TO) methods demonstrate success in coverage tasks, while struggling with point-cloud targets due t…

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