2 citations · 3 across the 9 of their papers we have counts for
12 papers
Gaze Prompts: Temporally Dense Human Attention for Vision-Language-Action Fine-Tuning
Yihan Zhou, Rui Yan, Mingcong Li +4
Vision-Language-Action (VLA) fine-tuning pairs images with actions at every step, yet typically provides only a task-level language instruction, leaving moment-to-moment visual rel…
DR-MPC: Fast and Feasible Dynamics-Relaxed Model-Predictive Control for Legged Locomotion
Run Wang, Alapati Tuerxun, Shuo Liu +4
This paper presents dynamics-relaxed model predictive control (DR-MPC), a novel MPC formulation for legged locomotion, and a tailored interior-point method (IPM) solver. The formul…
Verifiable Model-Free Safety Filters via Reinforcement Learning
Bihui Yin, Yiwen Lu, Yuchen Jiang +1
This paper presents a reinforcement learning approach of a model-free safety filter, drawing inspiration from the framework of model-based Predictive Safety Filters (PSFs). Similar…
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…
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…
Secure Filtering against Spatio-Temporal False Data Attacks under Asynchronous Sampling
Zishuo Li, Anh Tung Nguyen, André M. H. Teixeira +2
This paper addresses the secure state estimation problem for continuous linear time-invariant systems with non-periodic and asynchronous sampled measurements, where the sensors nee…
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…
Learning-Based Efficient Approximation of Data-Enabled Predictive Control
Yihan Zhou, Yiwen Lu, Zishuo Li +2
Data-Enabled Predictive Control (DeePC) bypasses the need for system identification by directly leveraging raw data to formulate optimal control policies. However, the size of the…
MPC-Inspired Reinforcement Learning for Verifiable Model-Free Control
Yiwen Lu, Zishuo Li, Yihan Zhou +2
In this paper, we introduce a new class of parameterized controllers, drawing inspiration from Model Predictive Control (MPC). The controller resembles a Quadratic Programming (QP)…
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…
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…