22 citations · 34 across the 23 of their papers we have counts for
7 papers · 1 filter
CHyLL: Learning Continuous Neural Representations of Hybrid Systems
Sangli Teng, Hang Liu, Jingyu Song +1
Learning the flows of hybrid systems that have both continuous and discrete time dynamics is challenging. The existing method learns the dynamics in each discrete mode, which suffe…
Robust Trajectory Tracking of Autonomous Surface Vehicle via Lie Algebraic Online MPC
Yinan Dong, Ziyu Xu, Tsimafei Lazouski +2
Autonomous surface vehicles (ASVs) are influenced by environmental disturbances such as wind and waves, making accurate trajectory tracking a persistent challenge in dynamic marine…
Ego-Vision World Model for Humanoid Contact Planning
Hang Liu, Yuman Gao, Sangli Teng +5
Enabling humanoid robots to exploit physical contact, rather than simply avoid collisions, is crucial for autonomy in unstructured environments. Traditional optimization-based plan…
Learning Hybrid Dynamics via Convex Optimizations
Kaito Iwasaki, Sangli Teng, Anthony Bloch +1
This paper investigates the problem of identifying state-dependent switching systems, a class of hybrid dynamical systems that combine multiple linear or nonlinear modes. We propos…
Max Entropy Moment Kalman Filter for Polynomial Systems with Arbitrary Noise
Sangli Teng, Harry Zhang, David Jin +4
Designing optimal Bayes filters for nonlinear non-Gaussian systems is a challenging task. The main difficulties are: 1) representing complex beliefs, 2) handling non-Gaussian noise…
Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups
Sangli Teng, Tzu-Yuan Lin, William A Clark +2
Designing dynamically feasible trajectories for rigid bodies is a fundamental problem in robotics. Although direct trajectory optimization is widely applied to solve this problem,…
Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding
Hang Liu, Sangli Teng, Ben Liu +2
Hybrid dynamical systems, which include continuous flow and discrete mode switching, can model robotics tasks like legged robot locomotion. Model-based methods usually depend on pr…