3 citations · 10 across the 24 of their papers we have counts for
5 papers · 1 filter
Continual Learning and Lifting of Koopman Dynamics for Linear Control of Legged Robots
Feihan Li, Abulikemu Abuduweili, Yifan Sun +3
The control of legged robots, particularly humanoid and quadruped robots, presents significant challenges due to their high-dimensional and nonlinear dynamics. While linear systems…
Absolute State-wise Constrained Policy Optimization: High-Probability State-wise Constraints Satisfaction
Weiye Zhao, Feihan Li, Yifan Sun +4
Enforcing state-wise safety constraints is critical for the application of reinforcement learning (RL) in real-world problems, such as autonomous driving and robot manipulation. Ho…
Safe Control of Quadruped in Varying Dynamics via Safety Index Adaptation
Kai S. Yun, Rui Chen, Chase Dunaway +2
Varying dynamics pose a fundamental difficulty when deploying safe control laws in the real world. Safety Index Synthesis (SIS) deeply relies on the system dynamics and once the dy…
Constrained Bandwidth Observation Sharing for Multi-Robot Navigation in Dynamic Environments via Intelligent Knapsack
Anirudh Chari, Rui Chen, Han Zheng +1
Multi-robot navigation is increasingly crucial in various domains, including disaster response, autonomous vehicles, and warehouse and manufacturing automation. Robot teams often m…
Meta-Control: Automatic Model-based Control Synthesis for Heterogeneous Robot Skills
Tianhao Wei, Liqian Ma, Rui Chen +2
The requirements for real-world manipulation tasks are diverse and often conflicting; some tasks require precise motion while others require force compliance; some tasks require av…