publications

Please see my Google Scholar for a full list of publications.

2026

  1. PrePrint
    Simplicial regularizability of the pseudo-moment cone and Carathéodory-type atomic decomposition of moment matrices
    Shucheng Kang, and Heng Yang
    arXiv preprint arXiv:2605.06854, 2026
    PDF Code
  2. PrePrint
    Local second-order limit dynamics of the alternating direction method of multipliers for semidefinite programming
    Shucheng Kang, and Heng Yang
    arXiv preprint arXiv:2602.20103, 2026
    PDF Code

2025

  1. PrePrint
    Factorization-free orthogonal projection onto the positive semidefinite cone with composite polynomial filtering
    Shucheng Kang, Haoyu Han, Antoine Groudiev, and Heng Yang
    arXiv preprint arXiv:2507.09165, 2025
    PDF Code
  2. PrePrint
    Local Linear Convergence of the Alternating Direction Method of Multipliers for Semidefinite Programming under Strict Complementarity
    Shucheng Kang, Xin Jiang, and Heng Yang
    arXiv preprint arXiv:2503.20142, 2025
    PDF Code
  3. RSS
    Global Contact-Rich Planning with Sparsity-Rich Semidefinite Relaxations
    Shucheng Kang, Guorui Liu, and Heng Yang
    Robotics: Science and Systems (RSS), 2025
    PDF Code
  4. RSS
    On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Planning
    Yulin Li, Haoyu Han, Shucheng Kang, Jun Ma, and Heng Yang
    Robotics: Science and Systems (RSS), 2025
    PDF Code
  5. SIOPT
    Sparse Polynomial Optimization with Unbounded Sets
    Lei Huang, Shucheng Kang, Jie Wang, and Heng Yang
    SIAM Journal on Optimization, 2025
    PDF

2024

  1. WAFR
    Fast and Certifiable Trajectory Optimization
    Shucheng Kang, Xiaoyang Xu, Jay Sarva, Ling Liang, and Heng Yang
    International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2024
    PDF Code

2023

  1. CDC
    Verification and synthesis of robust control barrier functions: Multilevel polynomial optimization and semidefinite relaxation
    Shucheng Kang, Yuxiao Chen, Heng Yang, and Marco Pavone
    In 2023 62nd IEEE Conference on Decision and Control (CDC), 2023
    PDF
  2. CDC
    Zero-shot transferable and persistently feasible safe control for high dimensional systems by consistent abstraction
    Tianhao Wei, Shucheng Kang, Ruixuan Liu, and Changliu Liu
    In 2023 62nd IEEE Conference on Decision and Control (CDC), 2023
    PDF

2022

  1. L-CSS
    Persistently feasible robust safe control by safety index synthesis and convex semi-infinite programming
    Tianhao Wei, Shucheng Kang, Weiye Zhao, and Changliu Liu
    IEEE Control Systems Letters, 2022
    PDF
  2. IROS
    A contact-safe reinforcement learning framework for contact-rich robot manipulation
    Xiang Zhu, Shucheng Kang, and Jianyu Chen
    In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
    PDF