Heng Yang

Adapting Prediction Sets to Distribution Shifts Without Labels

2024 · arXiv (Cornell University)

Recently there has been a surge of interest to deploy confidence set predictions rather than point predictions in machine learning. Unfortunately, the effectiveness of such prediction sets is frequently impaired by distribution shifts in practice, …

Global Contact-Rich Planning with Sparsity-Rich Semidefinite Relaxations

2025 · arXiv (Cornell University)

We show that contact-rich motion planning is also sparsity-rich when viewed as polynomial optimization (POP). We can exploit not only the correlative and term sparsity patterns that are general to all POPs, but also specialized …