1 citations · 1 across the 10 of their papers we have counts for
11 papers
The Layer Mystery of VLA: An Information-Theoretical Analysis of VLA Latent Interface
Yuxiang Liu, Lizhi Yang, Fengze Xie +2
Vision-language-action (VLA) policies connect a pretrained vision-language backbone to an action head through a latent interface, but which backbone layers this interface should ex…
Beyond Topology: A Morphological Symmetry Graph Representation for Locomotion Policy Learning
Sizhe Wei, Xulin Chen, Fengze Xie +3
Reinforcement learning has enabled impressive locomotion skills on articulated robots, but common policy representations remain only weakly aligned with robot physics. Generic netw…
A Narwhal-Inspired Sensing-to-Control Framework for Small Fixed-Wing Aircraft
Fengze Xie, Xiaozhou Fan, Jacob Schuster +2
Fixed-wing unmanned aerial vehicles (UAVs) offer endurance and efficiency but lack low-speed agility due to highly coupled dynamics. We present an end-to-end sensing-to-control pip…
Fast Non-Episodic Adaptive Tuning of Robot Controllers with Online Policy Optimization
James A. Preiss, Fengze Xie, Yiheng Lin +2
We study online algorithms to tune the parameters of a robot controller in a setting where the dynamics, policy class, and optimality objective are all time-varying. The system fol…
Morphological-Symmetry-Equivariant Heterogeneous Graph Neural Network for Robotic Dynamics Learning
Fengze Xie, Sizhe Wei, Yue Song +2
We present a morphological-symmetry-equivariant heterogeneous graph neural network, namely MS-HGNN, for robotic dynamics learning, that integrates robotic kinematic structures and…
Meta-Learning Augmented MPC for Disturbance-Aware Motion Planning and Control of Quadrotors
Dženan Lapandić, Fengze Xie, Christos K. Verginis +3
A major challenge in autonomous flights is unknown disturbances, which can jeopardize safety and lead to collisions, especially in obstacle-rich environments. This paper presents a…
Learning to Move Like Professional Counter-Strike Players
David Durst, Feng Xie, Vishnu Sarukkai +9
In multiplayer, first-person shooter games like Counter-Strike: Global Offensive (CS:GO), coordinated movement is a critical component of high-level strategic play. However, the co…
MAGIC-VFM: Meta-learning Adaptation for Ground Interaction Control with Visual Foundation Models
Elena Sorina Lupu, Fengze Xie, James A. Preiss +3
Control of off-road vehicles is challenging due to the complex dynamic interactions with the terrain. Accurate modeling of these interactions is important to optimize driving perfo…
Online Policy Optimization in Unknown Nonlinear Systems
Yiheng Lin, James A. Preiss, Fengze Xie +4
We study online policy optimization in nonlinear time-varying dynamical systems where the true dynamical models are unknown to the controller. This problem is challenging because,…
Hierarchical Meta-learning-based Adaptive Controller
Fengze Xie, Guanya Shi, Michael O'Connell +2
We study how to design learning-based adaptive controllers that enable fast and accurate online adaptation in changing environments. In these settings, learning is typically done d…
Joint-Space Multi-Robot Motion Planning with Learned Decentralized Heuristics
Fengze Xie, Marcus Dominguez-Kuhne, Benjamin Riviere +4
In this paper, we present a method of multi-robot motion planning by biasing centralized, sampling-based tree search with decentralized, data-driven steer and distance heuristics.…