2 citations · 2 across the 16 of their papers we have counts for
16 papers
Banana Kick: Response-Informed Skill Evolution for Humanoid Soccer
Hao E. Zhang, Ruize Geng, Raihan Haque +5
Humanoid kicking requires coordinated whole-body motion and precise contact, while a banana kick demands contact mechanics that generate ball spin and aerodynamic curvature. Motion…
Anticipatory Robot Goalkeeping via Monotone Optimal Stopping
Hao E. Zhang, Ruize Geng, Yisen Li +8
Robots engaged in fast physical interactions often need to act before the intent of another agent is fully known. Anticipatory goalkeeping illustrates this challenge. Waiting provi…
SAGE: Safety-Aligned Gradient Enforcement for Human--Robot Collaboration
Yisen Li, Hao Zhang, Ruize Geng +3
Multi-party human-robot collaboration poses a dual challenge: robot decisions should remain interpretable and auditable, while executed actions must satisfy safety constraints duri…
Dynamics-Induced Commitment in Learning-Based Robotic Penalty Kicks
Ruize Geng, Hao E. Zhang, Yisen Li +3
Learning in robotic games is constrained not only by strategic information but also by what the body can still execute. We study this coupling in a hierarchical humanoid-quadruped…
Learning Versatile Humanoid Manipulation with Touch Dreaming
Yaru Niu, Zhenlong Fang, Binghong Chen +8
Humanoid robots promise general-purpose assistance, yet real-world humanoid loco-manipulation remains challenging because it requires whole-body stability, end-effector dexterity,…
Cognition to Control - Multi-Agent Learning for Human-Humanoid Collaborative Transport
Hao Zhang, Ding Zhao, Yisen Li +4
Full-stack human-robot collaboration (HRC) can become brittle when replacing a planner, partner model, coordination policy, or controller changes the physical meaning of cross-laye…
Interaction-Aware Whole-Body Control for Compliant Object Transport
Hao Zhang, Yves Tseng, Ding Zhao +1
Cooperative object transport in unstructured environments remains challenging for assistive humanoids because strong, time-varying interaction forces can make tracking-centric whol…
HALO: Learning Human-Robot Collaboration via Heterogeneous-Agent Lyapunov Policy Optimization
Hao Zhang, Yaru Niu, Yikai Wang +2
To improve generalization and resilience in human-robot collaboration (HRC), robots must contend with diverse combinations of human behaviors and contexts, motivating multi-agent r…
Autonomous Driving With Perception Uncertainties: Deep-Ensemble Based Adaptive Cruise Control
Xiao Li, H. Eric Tseng, Anouck Girard +1
Autonomous driving depends on perception systems to understand the environment and to inform downstream decision-making. While advanced perception systems utilizing black-box Deep…
Game Projection and Robustness for Game-Theoretic Autonomous Driving
Mushuang Liu, H. Eric Tseng, Dimitar Filev +2
Game-theoretic approaches are envisioned to bring human-like reasoning skills and decision-making processes for autonomous vehicles (AVs). However, challenges including game comple…
Decision-Making for Autonomous Vehicles with Interaction-Aware Behavioral Prediction and Social-Attention Neural Network
Xiao Li, Kaiwen Liu, H. Eric Tseng +2
Autonomous vehicles need to accomplish their tasks while interacting with human drivers in traffic. It is thus crucial to equip autonomous vehicles with artificial reasoning to bet…
Interaction-Aware Decision-Making for Autonomous Vehicles in Forced Merging Scenario Leveraging Social Psychology Factors
Xiao Li, Kaiwen Liu, H. Eric Tseng +2
Understanding the intention of vehicles in the surrounding traffic is crucial for an autonomous vehicle to successfully accomplish its driving tasks in complex traffic scenarios su…
REFINE: Reachability-based Trajectory Design using Robust Feedback Linearization and Zonotopes
Jinsun Liu, Yifei Shao, Lucas Lymburner +7
Performing real-time receding horizon motion planning for autonomous vehicles while providing safety guarantees remains difficult. This is because existing methods to accurately pr…
Safe and Human-Like Autonomous Driving: A Predictor-Corrector Potential Game Approach
Mushuang Liu, H. Eric Tseng, Dimitar Filev +2
This paper proposes a novel decision-making framework for autonomous vehicles (AVs), called predictor-corrector potential game (PCPG), composed of a Predictor and a Corrector. To e…
Overtaking Maneuvers on a Nonplanar Racetrack
Thomas Fork, H. Eric Tseng, Francesco Borrelli
We leverage game theory and a new vehicle modeling approach to compute overtaking maneuvers for racecars on a nonplanar surface. We solve for equilibria between noncooperative raci…
Vehicle Models and Optimal Control on a Nonplanar Surface
Thomas Fork, H. Eric Tseng, Francesco Borrelli
We present a 10 DoF dynamic vehicle model for model-based control on nonplanar road surfaces. A parametric surface is used to describe the road surface, allowing the surface parame…