2 citations · 5 across the 14 of their papers we have counts for
14 papers
DistillKac: Few-Step Image Generation via Damped Wave Equations
Weiqiao Han, Chenlin Meng, Christopher D. Manning +1
We present DistillKac, a fast image generator that uses the damped wave equation and its stochastic Kac representation to move probability mass at finite speed. In contrast to diff…
Vector Quantized Feature Fields for Fast 3D Semantic Lifting
George Tang, Aditya Agarwal, Weiqiao Han +2
We generalize lifting to semantic lifting by incorporating per-view masks that indicate relevant pixels for lifting tasks. These masks are determined by querying corresponding mult…
Convex Risk Bounded Continuous-Time Trajectory Planning and Tube Design in Uncertain Nonconvex Environments
Ashkan Jasour, Weiqiao Han, Brian Williams
In this paper, we address the trajectory planning problem in uncertain nonconvex static and dynamic environments that contain obstacles with probabilistic location, size, and geome…
Real-Time Tube-Based Non-Gaussian Risk Bounded Motion Planning for Stochastic Nonlinear Systems in Uncertain Environments via Motion Primitives
Weiqiao Han, Ashkan Jasour, Brian Williams
We consider the motion planning problem for stochastic nonlinear systems in uncertain environments. More precisely, in this problem the robot has stochastic nonlinear dynamics and…
Non-Gaussian Uncertainty Minimization Based Control of Stochastic Nonlinear Robotic Systems
Weiqiao Han, Ashkan Jasour, Brian Williams
In this paper, we consider the closed-loop control problem of nonlinear robotic systems in the presence of probabilistic uncertainties and disturbances. More precisely, we design a…
KEMP: Keyframe-Based Hierarchical End-to-End Deep Model for Long-Term Trajectory Prediction
Qiujing Lu, Weiqiao Han, Jeffrey Ling +4
Predicting future trajectories of road agents is a critical task for autonomous driving. Recent goal-based trajectory prediction methods, such as DenseTNT and PECNet, have shown go…
Non-Gaussian Risk Bounded Trajectory Optimization for Stochastic Nonlinear Systems in Uncertain Environments
Weiqiao Han, Ashkan Jasour, Brian Williams
We address the risk bounded trajectory optimization problem of stochastic nonlinear robotic systems. More precisely, we consider the motion planning problem in which the robot has…
Real-Time Risk-Bounded Tube-Based Trajectory Safety Verification
Ashkan Jasour, Weiqiao Han, Brian Williams
In this paper, we address the real-time risk-bounded safety verification problem of continuous-time state trajectories of autonomous systems in the presence of uncertain time-varyi…
Convex Risk Bounded Continuous-Time Trajectory Planning in Uncertain Nonconvex Environments
Ashkan Jasour, Weiqiao Han, Brian Williams
In this paper, we address the trajectory planning problem in uncertain nonconvex static and dynamic environments that contain obstacles with probabilistic location, size, and geome…
Local Trajectory Stabilization for Dexterous Manipulation via Piecewise Affine Approximations
Weiqiao Han, Russ Tedrake
We propose a model-based approach to design feedback policies for dexterous robotic manipulation. The manipulation problem is formulated as reaching the target region from an initi…
Singularities and Genus of the k-Ellipse
Yuhan Jiang, Weiqiao Han
A k-ellipse is a plane curve consisting of all points whose distances from k fixed foci sum to a constant. We determine the singularities and genus of its Zariski closure in the co…
Controller Synthesis for Discrete-time Hybrid Polynomial Systems via Occupation Measures
Weiqiao Han, Russ Tedrake
We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of…
Controller Synthesis for Discrete-Time Polynomial Systems via Occupation Measures
Weiqiao Han, Russ Tedrake
In this paper, we design nonlinear state feedback controllers for discrete-time polynomial dynamical systems via the occupation measure approach. We propose the discrete-time contr…
Semidefinite Outer Approximation of the Backward Reachable Set of Discrete-time Autonomous Polynomial Systems
Weiqiao Han, Russ Tedrake
We approximate the backward reachable set of discrete-time autonomous polynomial systems using the recently developed occupation measure approach. We formulate the problem as an in…