8 papers
Sensitivity Shaping for Latent Modeling
Hongzhan Yu, Chenghao Li, Ruipeng Zhang +2
Generative dynamics models enable planning in challenging robotic systems, but safe deployment requires reliably detecting policy-induced out-of-distribution (OOD) transitions. Exi…
GLIDE: A Coordinated Aerial-Ground Framework for Search and Rescue in Unknown Environments
Seth Farrell, Chenghao Li, Henrik I. Christensen
We present a cooperative aerial-ground search-and-rescue (SAR) framework that pairs two unmanned aerial vehicles (UAVs) with an unmanned ground vehicle (UGV) to achieve rapid victi…
Learning Quadruped Walking from Seconds of Demonstration
Ruipeng Zhang, Hongzhan Yu, Ya-Chien Chang +3
Quadruped locomotion provides a natural setting for understanding when model-free learning can outperform model-based control design, by exploiting data patterns to bypass the diff…
Learning to Nudge: A Scalable Barrier Function Framework for Safe Robot Interaction in Dense Clutter
Haixin Jin, Nikhil Uday Shinde, Soofiyan Atar +5
Robots operating in everyday environments must navigate and manipulate within densely cluttered spaces, where physical contact with surrounding objects is unavoidable. Traditional…
Controllable Motion Generation via Diffusion Modal Coupling
Luobin Wang, Hongzhan Yu, Chenning Yu +2
Diffusion models have recently gained significant attention in robotics due to their ability to generate multi-modal distributions of system states and behaviors. However, a key ch…
Sequence Modeling for Time-Optimal Quadrotor Trajectory Optimization with Sampling-based Robustness Analysis
Katherine Mao, Hongzhan Yu, Ruipeng Zhang +4
Time-optimal trajectories drive quadrotors to their dynamic limits, but computing such trajectories involves solving non-convex problems via iterative nonlinear optimization, makin…