Publications (42)
Application of the space-based optical interferometer towards measuring cosmological distances of quasars
Ying-Ke Huang, Yue-Dong Fang, Kai-Xing Lu +6
Measuring the quasar distance through joint analysis of spectroastrometry (SA) and reverberation mapping (RM) observations is a new method for driving the development of cosmology.…
Distributed Perception Aware Safe Leader Follower System via Control Barrier Methods
Richie R. Suganda, Tony Tran, Miao Pan +3
This paper addresses a distributed leader-follower formation control problem for a group of agents, each using a body-fixed camera with a limited field of view (FOV) for state esti…
Resilient Control Lyapunov Function-based Quadratic Program for Quadrotors Under Cyberattacks
Yichao Wang, Sameeha Tasneem, Mohamadamin Rajabinezhad +4
Ensuring the operational safety of quadrotors under partial actuator failures, lumped external disturbances, and malicious cyberattacks is a critical challenge due to the system's…
A Model-Based Extended State Observer for Discrete-Time Linear Multivariable Systems
Jinfeng Chen, Zhiqiang Gao, Qin Lin
A model-based extended state observer (MB-ESO) and its variant are proposed for discrete-time linear multivariable systems, where multiple disturbances are defined as an extended s…
SOLAR: Switchable Output Layer for Accuracy and Robustness in Once-for-All Training
Shaharyar Ahmed Khan Tareen, Lei Fan, Xiaojing Yuan +2
Once-for-All (OFA) training enables a single super-net to generate multiple sub-nets tailored to diverse deployment scenarios, supporting flexible trade-offs among accuracy, robust…
Neural-ESO: A Dual-Pathway Architecture for Provably Robust Learning-Based Control
Fan Zhang, Richie Suganda, Jinfeng Chen +4
A learning-enabled disturbance-rejection framework based on a Neural Extended State Observer (Neural-ESO) is presented in this letter. Unlike existing learning-based control method…
HunyuanVideo-Avatar: High-Fidelity Audio-Driven Human Animation for Multiple Characters
Yi Chen, Sen Liang, Zixiang Zhou +6
Recent years have witnessed significant progress in audio-driven human animation. However, critical challenges remain in (i) generating highly dynamic videos while preserving chara…
Audio-visual Controlled Video Diffusion with Masked Selective State Spaces Modeling for Natural Talking Head Generation
Fa-Ting Hong, Zunnan Xu, Zixiang Zhou +5
Talking head synthesis is vital for virtual avatars and human-computer interaction. However, most existing methods are typically limited to accepting control from a single primary…
OmniV2V: Versatile Video Generation and Editing via Dynamic Content Manipulation
Sen Liang, Zhentao Yu, Zhengguang Zhou +8
The emergence of Diffusion Transformers (DiT) has brought significant advancements to video generation, especially in text-to-video and image-to-video tasks. Although video generat…
Disturbance Rejection-Guarded Learning for Vibration Suppression of Two-Inertia Systems
Fan Zhang, Jinfeng Chen, Yu Hu +3
Model uncertainty presents significant challenges in vibration suppression of multi-inertia systems, as these systems often rely on inaccurate nominal mathematical models due to sy…
VisionCreator: A Native Visual-Generation Agentic Model with Understanding, Thinking, Planning and Creation
Jinxiang Lai, Zexin Lu, Jiajun He +11
Visual content creation tasks demand a nuanced understanding of design conventions and creative workflows-capabilities challenging for general models, while workflow-based agents l…
Sonic: Shifting Focus to Global Audio Perception in Portrait Animation
Xiaozhong Ji, Xiaobin Hu, Zhihong Xu +9
The study of talking face generation mainly explores the intricacies of synchronizing facial movements and crafting visually appealing, temporally-coherent animations. However, due…
HunyuanPortrait: Implicit Condition Control for Enhanced Portrait Animation
Zunnan Xu, Zhentao Yu, Zixiang Zhou +10
We introduce HunyuanPortrait, a diffusion-based condition control method that employs implicit representations for highly controllable and lifelike portrait animation. Given a sing…
HunyuanCustom: A Multimodal-Driven Architecture for Customized Video Generation
Teng Hu, Zhentao Yu, Zhengguang Zhou +4
Customized video generation aims to produce videos featuring specific subjects under flexible user-defined conditions, yet existing methods often struggle with identity consistency…
Robust Operational Space Control with Conformal Disturbance Bounds for Safe Redundant Manipulation
Wenhua Liu, Fan Zhang, Qin Lin
Redundant robotic manipulators operating in constrained and human-interactive environments require accurate task-space tracking together with rigorous safety guarantees under dynam…
Towards Low-Barrier Cybersecurity Research and Education for Industrial Control Systems
Colman McGuan, Chansu Yu, Qin Lin
The protection of Industrial Control Systems (ICS) that are employed in public critical infrastructures is of utmost importance due to catastrophic physical damages cyberattacks ma…
ELASTIC: Efficient Once For All Iterative Search for Object Detection on Microcontrollers
Tony Tran, Qin Lin, Bin Hu
Deploying high-performance object detectors on TinyML platforms poses significant challenges due to tight hardware constraints and the modular complexity of modern detection pipeli…
Unified Disturbance Aware Safe Kinematic Control for Closed-Architecture Robots
Fan Zhang, Jinfeng Chen, Joseph J. B. Mvogo Ahanda +4
In commercial robotic systems, it is common to encounter a closed inner-loop torque controller that is not user-modifiable. However, the outer-loop controller, which sends kinemati…
Spatio-temporal Motion Planning for Autonomous Vehicles with Trapezoidal Prism Corridors and Bézier Curves
Srujan Deolasee, Qin Lin, Jialun Li +1
Safety-guaranteed motion planning is critical for self-driving cars to generate collision-free trajectories. A layered motion planning approach with decoupled path and speed planni…
Anomaly Detection in a Digital Video Broadcasting System Using Timed Automata
Xiaoran Liu, Qin Lin, Sicco Verwer +1
This paper focuses on detecting anomalies in a digital video broadcasting (DVB) system from providers' perspective. We learn a probabilistic deterministic real timed automaton prof…
Bayesian Nonparametric Dictionary Learning for Compressed Sensing MRI
Yue Huang, John Paisley, Qin Lin +3
We develop a Bayesian nonparametric model for reconstructing magnetic resonance images (MRI) from highly undersampled k-space data. We perform dictionary learning as part of the im…
FireEdit: Fine-grained Instruction-based Image Editing via Region-aware Vision Language Model
Jun Zhou, Jiahao Li, Zunnan Xu +6
Currently, instruction-based image editing methods have made significant progress by leveraging the powerful cross-modal understanding capabilities of vision language models (VLMs)…
Safe planning and control under uncertainty for self-driving
Shivesh Khaitan, Qin Lin, John M. Dolan
Motion Planning under uncertainty is critical for safe self-driving. In this paper, we propose a unified obstacle avoidance framework that deals with 1) uncertainty in ego-vehicle…
Interpreting Finite Automata for Sequential Data
Christian Albert Hammerschmidt, Sicco Verwer, Qin Lin +1
Automaton models are often seen as interpretable models. Interpretability itself is not well defined: it remains unclear what interpretability means without first explicitly specif…
Towards Safety Assured End-to-End Vision-Based Control for Autonomous Racing
Dvij Kalaria, Qin Lin, John M. Dolan
Autonomous car racing is a challenging task, as it requires precise applications of control while the vehicle is operating at cornering speeds. Traditional autonomous pipelines req…
Proof-of-Guardrail in AI Agents and What (Not) to Trust from It
Xisen Jin, Michael Duan, Qin Lin +4
As AI agents become widely deployed as online services, users often rely on an agent developer's claim about how safety is enforced, which introduces a threat where safety measures…
Hunyuan-Game: Industrial-grade Intelligent Game Creation Model
Ruihuang Li, Caijin Zhou, Shoujian Zheng +55
Intelligent game creation represents a transformative advancement in game development, utilizing generative artificial intelligence to dynamically generate and enhance game content…
Robust Control Barrier Functions for Safe Control Under Uncertainty Using Extended State Observer and Output Measurement
Jinfeng Chen, Zhiqiang Gao, Qin Lin
Control barrier functions-based quadratic programming (CBF-QP) is gaining popularity as an effective controller synthesis tool for safe control. However, the provable safety is est…
BitsAI-CR: Automated Code Review via LLM in Practice
Tao Sun, Jian Xu, Yuanpeng Li +9
Code review remains a critical yet resource-intensive process in software development, particularly challenging in large-scale industrial environments. While Large Language Models…
Delay-aware Robust Control for Safe Autonomous Driving and Racing
Dvij Kalaria, Qin Lin, John M. Dolan
Delays endanger safety of autonomous systems operating in a rapidly changing environment, such as nondeterministic surrounding traffic participants in autonomous driving and high-s…
Measuring Similarity of Interactive Driving Behaviors Using Matrix Profile
Qin Lin, Wenshuo Wang, Yihuan Zhang +1
Understanding multi-vehicle interactive behaviors with temporal sequential observations is crucial for autonomous vehicles to make appropriate decisions in an uncertain traffic env…
HunyuanVideo-HOMA: Generic Human-Object Interaction in Multimodal Driven Human Animation
Ziyao Huang, Zixiang Zhou, Juan Cao +9
To address key limitations in human-object interaction (HOI) video generation -- specifically the reliance on curated motion data, limited generalization to novel objects/scenarios…
Delay-aware Robust Control for Safe Autonomous Driving
Dvij Kalaria, Qin Lin, John M. Dolan
With the advancement of affordable self-driving vehicles using complicated nonlinear optimization but limited computation resources, computation time becomes a matter of concern. O…
Adaptive Planning and Control with Time-Varying Tire Models for Autonomous Racing Using Extreme Learning Machine
Dvij Kalaria, Qin Lin, John M. Dolan
Autonomous racing is a challenging problem, as the vehicle needs to operate at the friction or handling limits in order to achieve minimum lap times. Autonomous race cars require h…
Towards Optimal Head-to-head Autonomous Racing with Curriculum Reinforcement Learning
Dvij Kalaria, Qin Lin, John M. Dolan
Head-to-head autonomous racing is a challenging problem, as the vehicle needs to operate at the friction or handling limits in order to achieve minimum lap times while also activel…
Safe Planning for Self-Driving Via Adaptive Constrained ILQR
Yanjun Pan, Qin Lin, Het Shah +1
Constrained Iterative Linear Quadratic Regulator (CILQR), a variant of ILQR, has been recently proposed for motion planning problems of autonomous vehicles to deal with constraints…
Disturbance Observer-based Control Barrier Functions with Residual Model Learning for Safe Reinforcement Learning
Dvij Kalaria, Qin Lin, John M. Dolan
Reinforcement learning (RL) agents need to explore their environment to learn optimal behaviors and achieve maximum rewards. However, exploration can be risky when training RL dire…
Learning a Safety Verifiable Adaptive Cruise Controller from Human Driving Data
Qin Lin, Sicco Verwer, John Dolan
Imitation learning provides a way to automatically construct a controller by mimicking human behavior from data. For safety-critical systems such as autonomous vehicles, it can be…
Multi-modal Segment Assemblage Network for Ad Video Editing with Importance-Coherence Reward
Yolo Yunlong Tang, Siting Xu, Teng Wang +3
Advertisement video editing aims to automatically edit advertising videos into shorter videos while retaining coherent content and crucial information conveyed by advertisers. It m…
HunyuanVideo: A Systematic Framework For Large Video Generative Models
Weijie Kong, Qi Tian, Zijian Zhang +49
Recent advancements in video generation have significantly impacted daily life for both individuals and industries. However, the leading video generation models remain closed-sourc…
Hunyuan-DiT: A Powerful Multi-Resolution Diffusion Transformer with Fine-Grained Chinese Understanding
Zhimin Li, Jianwei Zhang, Qin Lin +42
We present Hunyuan-DiT, a text-to-image diffusion transformer with fine-grained understanding of both English and Chinese. To construct Hunyuan-DiT, we carefully design the transfo…
InstantCharacter: Personalize Any Characters with a Scalable Diffusion Transformer Framework
Jiale Tao, Yanbing Zhang, Qixun Wang +9
Current learning-based subject customization approaches, predominantly relying on U-Net architectures, suffer from limited generalization ability and compromised image quality. Mea…