15 papers
We Have Been Interpreting Diffusion Transformer Backbone Behaviors Wrong
Benyuan Meng, Longtao Huang, Yang Liu +1
During a network forward call, diffusion backbones naturally produce many intermediate activations. If we evaluate each activation against an identical downstream benchmarking prot…
Model Predictive Control for Safety-Critical Systems Using Taylor's Theorem with Lagrange Remainder
Shuo Liu, Liang Wu, Wei Xiao +2
Safety-critical Model Predictive Control (MPC) formulations based on Control Barrier Functions (CBFs) often require multiple tuning parameters and may become conservative or diffic…
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…
Exact Signed-Distance Control Barrier Functions via Minkowski Operations for Safe Navigation among Polytopes
Yi-Hsuan Chen, Shuo Liu, Wei Xiao +2
Safely navigating polytopic environments while respecting the dynamics, control, and exact geometry of the underlying system is a challenge in robotics. Control barrier functions (…
Feasibility-aware Learning of Robust Temporal Logic Controllers using BarrierNet
Wenliang Liu, Shuo Liu, Wei Xiao +1
Control Barrier Functions (CBFs) have been used to enforce safety and task specifications expressed in Signal Temporal Logic (STL). However, existing CBF-STL approaches typically r…
Taylor-Lagrange Control for Safety-Critical Systems
Wei Xiao, Anni Li
This paper proposes a novel Taylor-Lagrange Control (TLC) method for nonlinear control systems to ensure the safety and stability through Taylor's theorem with Lagrange remainder.…
Sampling-Aware Control Barrier Functions for Safety-Critical and Finite-Time Constrained Control
Shuo Liu, Wei Xiao, Calin A. Belta
In safety-critical control systems, ensuring both safety and feasibility under sampled-data implementations is crucial for practical deployment. Existing Control Barrier Function (…
A Predictive and Sampled-Data Barrier Method for Safe and Efficient Quadrotor Control
Ming Gao, Zhanglin Shangguan, Shuo Liu +3
This paper proposes a cascaded control framework for quadrotor trajectory tracking with formal safety guarantees. First, we design a controller consisting of an outer-loop position…
HJB-based online safety-embedded critic learning for uncertain systems with self-triggered mechanism
Zhanglin Shangguan, Bo Yang, Qi Li +2
This paper presents a learning-based optimal control framework for safety-critical systems with parametric uncertainties, addressing both time-triggered and self-triggered controll…
Control Barrier Functions via Minkowski Operations for Safe Navigation among Polytopic Sets
Yi-Hsuan Chen, Shuo Liu, Wei Xiao +2
Safely navigating around obstacles while respecting the dynamics, control, and geometry of the underlying system is a key challenge in robotics. Control Barrier Functions (CBFs) ge…
Auxiliary-Variable Adaptive Control Barrier Functions
Shuo Liu, Wei Xiao, Calin A. Belta
This paper addresses the challenge of ensuring safety and feasibility in control systems using Control Barrier Functions (CBFs). Existing CBF-based Quadratic Programs (CBF-QPs) oft…
Safety-Critical Control with Guaranteed Lipschitz Continuity via Filtered Control Barrier Functions
Shuo Liu, Wei Xiao, Calin A. Belta
In safety-critical control systems, ensuring both system safety and smooth control input is essential for practical deployment. Existing Control Barrier Function (CBF) frameworks,…
EIQP: Execution-time-certified and Infeasibility-detecting QP Solver
Liang Wu, Wei Xiao, Richard D. Braatz
Solving real-time quadratic programming (QP) is a ubiquitous task in control engineering, such as in model predictive control and control barrier function-based QP. In such real-ti…
Auxiliary-Variable Adaptive Control Lyapunov Barrier Functions for Spatio-Temporally Constrained Safety-Critical Applications
Shuo Liu, Wei Xiao, Calin A. Belta
Recent work has shown that stabilizing an affine control system while optimizing a quadratic cost subject to state and control constraints can be mapped to a sequence of Quadratic…
Feasibility-Guaranteed Safety-Critical Control with Applications to Heterogeneous Platoons
Shuo Liu, Wei Xiao, Calin A. Belta
This paper studies safety and feasibility guarantees for systems with tight control bounds. It has been shown that stabilizing an affine control system while optimizing a quadratic…