6 papers
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…