5 papers · 1 filter
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…