Jiayun Li joined the PEARL group as a PhD student at TU Darmstadt in October 2023. Prof. Georgia Chalvatzaki supervises his research, primarily focuses on approximate Bayesian inference, model learning and numerical optimal control.
Jiayun attained his master’s degree in Computational Engineering Science from TU Berlin. His Master’s study focused on numerical optimal control, and learning for control under the supervision of Prof. Marc Toussaint.
Research Interests
Scalable optimization and inference for contact-rich robot motion planning
Hi, I warmly welcome prospective students and potential collaborators who are interested in my research areas to get in touch with me.
References
Jiayun Li, Georgia Chalvatzaki. “Contact-Rich Motion Planning via GPU-Parallel Mode Evaluation”, Preprint. [Preprint]
Jiayun Li, Georgia Chalvatzaki. “Globalized Constrained Stein Variational Inference for Diverse Feasible Robot Motion Planning”, Preprint. [Preprint]
Jiayun Li, Dejian Gong, Georgia Chalvatzaki. “IMPACT: An Implicit Active-Set Augmented Lagrangian for Fast Contact-Implicit Trajectory Optimization”, RSS 2026. [website]
Jiayun Li, Yufeng Jin, Sangli Teng, Dejian Gong, Georgia Chalvatzaki. “Stein Variational Ergodic Surface Coverage with SE (3) Constraints”, ICRA 2026. [paper]
Jiayun Li, Georgia Chalvatzaki. “A Functional Newton Method with Sparse Gradient Projection for Motion Planning”, Frontiers of optimization for robotics workshop at RSS 2024 (oral). [paper]
Jiayun Li, Arne Wahrburg, and Nima Enayati. “Active Learning of Time-Optimal Motion for an Industrial Manipulator with Variable Payload”, IFAC 2023. [paper]
Contact
> Email: jiayun.li<at>tu-darmstadt.de
> Post:
Jiayun Li
TU Darmstadt,
Landwehrstraße 50A, 64293 Darmstadt
Office. Room 1