4 papers
Tackling Sim-to-Real Mismatch Through Sampling-Based Disturbance Observers: From Analytical Models to Learned World Models
Tianqi Zhu, Jun Yang, Jianliang Mao +2
Robotic controllers increasingly rely on analytical models, simulators, cost-query interfaces, and learned world models. However, physical deployment can deviate from nominal assum…
SIESEF-FusionNet: Spatial Inter-correlation Enhancement and Spatially-Embedded Feature Fusion Network for LiDAR Point Cloud Semantic Segmentation
Jiale Chen, Fei Xia, Jianliang Mao +2
The ambiguity at the boundaries of different semantic classes in point cloud semantic segmentation often leads to incorrect decisions in intelligent perception systems, such as aut…
Flexible Active Safety Motion Control for Robotic Obstacle Avoidance: A CBF-Guided MPC Approach
Jinhao Liu, Jun Yang, Jianliang Mao +5
A flexible active safety motion (FASM) control approach is proposed for the avoidance of dynamic obstacles and the reference tracking in robot manipulators. The distinctive feature…
Guarding Force: Safety-Critical Compliant Control for Robot-Environment Interaction
Xinming Wang, Jun Yang, Jianliang Mao +3
In this study, we propose a safety-critical compliant control strategy designed to strictly enforce interaction force constraints during the physical interaction of robots with unk…