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05/06/2023
Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots
The safety-critical control of robotic systems often must account for mu...
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03/23/2023
Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions
This paper presents a safety-critical approach to the coordinated contro...
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10/13/2022
Sample Efficient Dynamics Learning for Symmetrical Legged Robots:Leveraging Physics Invariance and Geometric Symmetries
Model generalization of the underlying dynamics is critical for achievin...
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09/23/2022
Real-Time Model Predictive Control for Industrial Manipulators with Singularity-Tolerant Hierarchical Task Control
This paper proposes a real-time model predictive control (MPC) scheme to...
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07/18/2022
Towards the Human Global Context: Does the Vision-Language Model Really Judge Like a Human Being?
As computer vision and NLP make progress, Vision-Language(VL) is becomin...
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08/10/2021
Exploiting Features with Split-and-Share Module
Deep convolutional neural networks (CNNs) have shown state-of-the-art pe...
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09/13/2020
MPC-Based Hierarchical Task Space Control of Underactuated and Constrained Robots for Execution of Multiple Tasks
This paper proposes an MPC-based controller to efficiently execute multi...
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09/05/2020
BP-RRT: Barrier Pair Synthesis for Temporal Logic Motion Planning
For a nonlinear system (e.g. a robot) with its continuous state space tr...
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06/21/2020
Sequential Feature Filtering Classifier
We propose Sequential Feature Filtering Classifier (FFC), a simple but e...
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02/14/2020
Deep Attentive Study Session Dropout Prediction in Mobile Learning Environment
Student dropout prediction provides an opportunity to improve student en...
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06/10/2019
Data Efficient and Safe Learning for Locomotion via Simplified Model
In this letter, we formulate a novel Markov Decision Process (MDP) for d...
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03/26/2019
Efficient Trajectory Generation for Robotic Systems Constrained by Contact Forces
In this work, we propose a trajectory generation method for robotic syst...
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09/27/2018
Trajectory Generation for Robotic Systems with Contact Force Constraints
This paper presents a trajectory generation method for contact-constrain...
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09/24/2018
Social Navigation Planning Based on People's Awareness of Robots
When mobile robots maneuver near people, they run the risk of rudely blo...
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09/24/2018
Prioritized Kinematic Control of Joint-Constrained Head-Eye Robots using the Intermediate Value Approach
Existing gaze controllers for head-eye robots can only handle single fix...
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07/03/2018