From the 2 of 10 linked papers with an AI index.
10 papers
BridgeFlow: Fast and Robust SE(2)-Equivariant Motion Planning with Flow Matching
Xinzhe Zhou, Xuyang Wang, Xiaoming Duan +1
BridgeFlow is a generative motion planning method that achieves exact SE(2) equivariance through a lightweight canonicalization step and uses a Brownian bridge prior with optimal t…
Minimizing Worst-Case Weighted Latency for Multi-Robot Persistent Monitoring: Theory and RL-Based Solutions
Weizhen Wang, Ziheng Wang, Jianping He +2
The paper proposes new tail-performance objectives for multi-robot persistent monitoring on weighted graphs and solves the resulting optimization via a reformulated Markov decision…
3DIOC: Direct Data-Driven Inverse Optimal Control for LTI Systems
Chendi Qu, Jianping He, Xiaoming Duan
This paper addresses the Direct Data-Driven Inverse Optimal Control (3DIOC) problem for linear time-invariant (LTI) systems under the linear quadratic (LQ) control. Unlike traditio…
Analysis of On-policy Policy Gradient Methods under the Distribution Mismatch
Weizhen Wang, Jianping He, Xiaoming Duan
Policy gradient methods are one of the most successful approaches for solving challenging reinforcement learning problems. Despite their empirical successes, many state-of-the-art…
Optimal Unpredictable Control for Linear Systems
Chendi Qu, Jianping He, Jialun Li +1
In this paper, we investigate how to achieve the unpredictability against malicious inferences for linear systems. The key idea is to add stochastic control inputs, named as unpred…
Aucamp: An Underwater Camera-Based Multi-Robot Platform with Low-Cost, Distributed, and Robust Localization
Jisheng Xu, Ding Lin, Pangkit Fong +3
This paper introduces an underwater multi-robot platform, named Aucamp, characterized by cost-effective monocular-camera-based sensing, distributed protocol and robust orientation…