1 citations · 2 across the 11 of their papers we have counts for
14 papers
Neuro-Symbolic Predicate Learning for Semantic Safe Robot Control
Zihan Ye, Jiayi Liu, Puze Liu +4
As robots are increasingly deployed in everyday environments, ensuring their safety has become a central challenge. Existing methods often encode safety requirements as opaque math…
Contact-Rich Motion Planning via GPU-Parallel Mode Evaluation
Jiayun Li, Georgia Chalvatzaki
Contact-rich motion planning (CRMP) is essential for robotic manipulation and locomotion, yet remains computationally challenging due to combinatorial contact decisions. Existing m…
Globalized Constrained Stein Variational Inference for Diverse Feasible Robot Motion Planning
Jiayun Li, Georgia Chalvatzaki
Robot motion planning is inherently multimodal, yet classical planners typically return only a single solution. Probabilistic formulations address this limitation by maintaining a…
IMPACT: An Implicit Active-Set Augmented Lagrangian for Fast Contact-Implicit Trajectory Optimization
Jiayun Li, Dejian Gong, Georgia Chalvatzaki
Contact-implicit trajectory optimization (CITO) has attracted growing attention as a unified framework for planning and control in contact-rich robotic tasks. Recent approaches hav…
Stein Variational Ergodic Surface Coverage with SE(3) Constraints
Jiayun Li, Yufeng Jin, Sangli Teng +2
Surface manipulation tasks require robots to generate trajectories that comprehensively cover complex 3D surfaces while maintaining precise end-effector poses. Existing ergodic tra…
Identification with Orthogonal Basis Functions: Convergence Speed, Asymptotic Bias, and Rate-Optimal Pole Selection
Jiayun Li, Yiwen Lu, Yilin Mo +1
This paper is concerned with performance analysis and pole selection problem in identifying linear time-invariant (LTI) systems using orthogonal basis functions (OBFs), a system id…
Conditional Generative Modeling of Stochastic LTI Systems: A Behavioral Approach
Jiayun Li, Yilin Mo
This paper presents a data-driven model for Linear Time-Invariant (LTI) stochastic systems by sampling from the conditional probability distribution of future outputs given past in…
Learning to Drift with Individual Wheel Drive: Maneuvering Autonomous Vehicle at the Handling Limits
Yihan Zhou, Yiwen Lu, Bo Yang +2
Drifting, characterized by controlled vehicle motion at high sideslip angles, is crucial for safely handling emergency scenarios at the friction limits. While recent reinforcement…
Regret Analysis with Almost Sure Convergence for OBF-ARX Filter
Jiayun Li, Yiwen Lu, Yilin Mo
This paper considers the output prediction problem for an unknown Linear Time-Invariant (LTI) system. In particular, we focus our attention on the OBF-ARX filter, whose transfer fu…
Finite Sample Performance Analysis of MIMO Systems Identification
Shuai Sun, Jiayun Li, Yilin Mo
This paper is concerned with the finite sample identification performance of an n dimensional discrete-time Multiple-Input Multiple-Output (MIMO) Linear Time-Invariant system, with…
Generalized Activation via Multivariate Projection
Jiayun Li, Yuxiao Cheng, Yiwen Lu +3
Activation functions are essential to introduce nonlinearity into neural networks, with the Rectified Linear Unit (ReLU) often favored for its simplicity and effectiveness. Motivat…
Consecutive Inertia Drift of Autonomous RC Car via Primitive-based Planning and Data-driven Control
Yiwen Lu, Bo Yang, Jiayun Li +3
Inertia drift is an aggressive transitional driving maneuver, which is challenging due to the high nonlinearity of the system and the stringent requirement on control and planning…
Linear Model Predictive Control under Continuous Path Constraints via Parallelized Primal-Dual Hybrid Gradient Algorithm
Zishuo Li, Bo Yang, Jiayun Li +2
In this paper, we consider a Model Predictive Control (MPC) problem of a continuous-time linear time-invariant system subject to continuous-time path constraints on the states and…
Markov Parameter Identification via Chebyshev Approximation
Jiayun Li, Yilin Mo
This paper proposes an identification algorithm for Single Input Single Output (SISO) Linear Time-Invariant (LTI) systems. In the noise-free setting, where the first Markov par…