2 citations · 3 across the 16 of their papers we have counts for
16 papers
Behavior-Aligned Action Tokenization for Robot Policy Learning
Junbo Dong, Ze Chen, Zhendong Xie +5
Autoregressive robot policies learn continuous control by predicting discrete action tokens from observations. Different tasks often share local motions, yet behavioral corresponde…
OpenWAM: An Open, Modular Exploration Towards Systematic World-Action Model Pretraining
Yuran Wang, Siqiao Huang, Mingleyang Li +21
World-Action Models inherit world knowledge from video-generative priors, and channel it into executable control signals through embodied experience. Existing systems, however, are…
Smoother Action Chunking Flow Policy via Prior-Corrected Orthogonal Trust-Region Guidance
Kai Fang, Hailong Pei, Xuemin Chi
Flow-matching robot policies commonly use action-chunking inference for efficient closed-loop control, but chunk boundaries can introduce discontinuous action transitions. Existing…
Efficient and Real-Time Motion Planning for Robotics Using Projection-Based Optimization
Xuemin Chi, Hakan Girgin, Tobias Löw +6
Generating motions for robots interacting with objects of various shapes is a complex challenge, further complicated by the robot geometry and multiple desired behaviors. While cur…
Dynamic Collision Avoidance Using Velocity Obstacle-Based Control Barrier Functions
Jihao Huang, Jun Zeng, Xuemin Chi +3
Designing safety-critical controllers for acceleration-controlled unicycle robots is challenging, as control inputs may not appear in the constraints of control Lyapunov functions(…
FSDP: Fast and Safe Data-Driven Overtaking Trajectory Planning for Head-to-Head Autonomous Racing Competitions
Cheng Hu, Jihao Huang, Wule Mao +7
Generating overtaking trajectories in autonomous racing is a challenging task, as the trajectory must satisfy the vehicle's dynamics and ensure safety and real-time performance run…
Safe Dynamic Motion Generation in Configuration Space Using Differentiable Distance Fields
Xuemin Chi, Yiming Li, Jihao Huang +3
Generating collision-free motions in dynamic environments is a challenging problem for high-dimensional robotics, particularly under real-time constraints. Control Barrier Function…
Configuration Space Distance Fields for Manipulation Planning
Yiming Li, Xuemin Chi, Amirreza Razmjoo +1
The signed distance field is a popular implicit shape representation in robotics, providing geometric information about objects and obstacles in a form that can easily be combined…
GeoPro-VO: Dynamic Obstacle Avoidance with Geometric Projector Based on Velocity Obstacle
Jihao Huang, Xuemin Chi, Jun Zeng +2
Optimization-based approaches are widely employed to generate optimal robot motions while considering various constraints, such as robot dynamics, collision avoidance, and physical…
Whole-body Dynamic Collision Avoidance with Time-varying Control Barrier Functions
Jihao Huang, Xuemin Chi, Zhitao Liu +1
Recently, there has been increasing attention in robot research towards the whole-body collision avoidance. In this paper, we propose a safety-critical controller that utilizes tim…
Fast Path Planning for Autonomous Vehicle Parking with Safety-Guarantee using Hamilton-Jacobi Reachability
Xuemin Chi, Jun Zeng, Jihao Huang +2
We present a fast planning architecture called Hamilton-Jacobi-based bidirectional A* (HJBA*) to solve general tight parking scenarios. The algorithm is a two-layer composed of a h…
Geometric Projectors: Geometric Constraints based Optimization for Robot Behaviors
Xuemin Chi, Tobias Löw, Yiming Li +2
Generating motion for robots that interact with objects of various shapes is a complex challenge, further complicated when the robot's own geometry and multiple desired behaviors a…
Obstacle Avoidance for Unicycle-Modelled Mobile Robots with Time-varying Control Barrier Functions
Jihao Huang, Zhitao Liu, Jun Zeng +2
In this paper, we propose a safety-critical controller based on time-varying control barrier functions (CBFs) for a robot with an unicycle model in the continuous-time domain to ac…
Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-robot Systems
Jihao Huang, Jun Zeng, Xuemin Chi +3
Obstacle avoidance for multi-robot navigation with polytopic shapes is challenging. Existing works simplify the system dynamics or consider it as a convex or non-convex optimizatio…
Search-Based Path Planning Algorithm for Autonomous Parking:Multi-Heuristic Hybrid A*
Jihao Huang, Zhitao Liu, Xuemin Chi +2
This paper proposed a novel method for autonomous parking. Autonomous parking has received a lot of attention because of its convenience, but due to the complex environment and the…
Optimization-based Motion Planning for Autonomous Parking Considering Dynamic Obstacle: A Hierarchical Framework
Xuemin Chi, Zhitao Liu, Jihao Huang +2
This paper introduces a hierarchical framework that integrates graph search algorithms and model predictive control to facilitate efficient parking maneuvers for Autonomous Vehicle…