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Melvin Leok

2 accepted papers

2023

Simplifying Momentum-based Positive-definite Submanifold Optimization with Applications to Deep Learning

ICML 2023poster

Riemannian submanifold optimization with momentum is computationally challenging because, to ensure that the iterates remain on the submanifold, we often need to solve difficult differential equations. Here, we simplify such difficulties for a class of structured symmetric positive-definite matrices…

2022

Safe Control Synthesis With Uncertain Dynamics and Constraints

RA-L 2022

This paper considers safe control synthesis for dynamical systems with either probabilistic or worst-case uncertainty in both the dynamics model and the safety constraints. We formulate novel probabilistic and robust (worst-case) control Lyapunov function (CLF) and control barrier function (CBF) con

Cited by 36SourceScholar