54 citations · 106 across the 9 of their papers we have counts for
9 papers
ForceRFT: Refining VLA Actions through Force-Guided Residual Reinforcement Learning
Yichen Wang, Chaoyang Zhang, Xuqi Su +3
Force-conditioned vision-language-action (VLA) policies can respond to contact, but when trained solely on demonstrations, their recovery behavior may be limited by demonstration c…
Generalized Iterative Super-Twisting Sliding Mode Control: A Case Study on Flexure-Joint Dual-Drive H-Gantry Stage
Wenxin Wang, Jun Ma, Zilong Cheng +3
Mechatronic systems are commonly used in the industry, where fast and accurate motion performance is always required to guarantee manufacturing precision and efficiency. Neverthele…
Global Iterative Sliding Mode Control of an Industrial Biaxial Gantry System for Contouring Motion Tasks
Wenxin Wang, Jun Ma, Zilong Cheng +3
This paper proposes a global iterative sliding mode control approach for high-precision contouring tasks of a flexure-linked biaxial gantry system. For such high-precision contouri…
Convex Parameterization and Optimization for Robust Tracking of a Magnetically Levitated Planar Positioning System
Jun Ma, Zilong Cheng, Haiyue Zhu +3
Magnetic levitation positioning technology has attracted considerable research efforts and dedicated attention due to its extremely attractive features. The technology offers high-…
Grasping Detection Network with Uncertainty Estimation for Confidence-Driven Semi-Supervised Domain Adaptation
Haiyue Zhu, Yiting Li, Fengjun Bai +6
Data-efficient domain adaptation with only a few labelled data is desired for many robotic applications, e.g., in grasping detection, the inference skill learned from a grasping da…
Data-Driven Multi-Objective Controller Optimization for a Magnetically-Levitated Nanopositioning System
Xiaocong Li, Haiyue Zhu, Jun Ma +4
The performance achieved with traditional model-based control system design approaches typically relies heavily upon accurate modeling of the motion dynamics. However, modeling the…
Robust Fixed-Order Controller Design for Uncertain Systems with Generalized Common Lyapunov Strictly Positive Realness Characterization
Jun Ma, Haiyue Zhu, Xiaocong Li +3
This paper investigates the design of a robust fixed-order controller for single-input-single-output (SISO) polytopic systems with interval uncertainties, with the aim that the clo…
Second-Order Non-Convex Optimization for Constrained Fixed-Structure Static Output Feedback Controller Synthesis
Zilong Cheng, Jun Ma, Xiaocong Li +2
For linear time-invariant (LTI) systems, the design of an optimal controller is a commonly encountered problem in many applications. Among all the optimization approaches available…
Data-Driven Linear Quadratic Optimization for Controller Synthesis with Structural Constraints
Jun Ma, Zilong Cheng, Xiaocong Li +3
For various typical cases and situations where the formulation results in an optimal control problem, the Linear Quadratic Regulator (LQR) approach and its variants continue to be…