5 papers
DexForge: High-Fidelity Physics-Informed Dexterous Retargeting
Meizhong Wang, Kun Cao, Ruiqi Ni +2
Human demonstrations offer rich examples of precise dexterous manipulation and a promising source of robot training data. However, high-fidelity reproduction of demonstrated motion…
ContactGaussian-WM: Learning Physics-Grounded World Model from Videos
Meizhong Wang, Wanxin Jin, Kun Cao +2
Developing world models that understand complex physical interactions is essential for advancing robotic planning and simulation.However, existing methods often struggle to accurat…
Extremum Seeking Nonovershooting Control of Strict-Feedback Systems Under Unknown Control Direction
Kaixin Lu, Ziliang Lyu, Yanfang Mo +2
This paper addresses the nonovershooting control problem for strict-feedback nonlinear systems with unknown control direction. We propose a method that integrates extremum seeking…
Safety Margins of Inverse Optimal ISSf Controllers
Ziliang Lyu, Yiguang Hong, Lihua Xie +1
We investigate the gain margin of a general nonlinear system under an inverse optimal input-to-state safe (ISSf) controller of the form u=u0(x)+u*(x,u0), where u0 is the nominal co…
Adaptive Override Control under High-Relative-Degree Nonovershooting Constraints
Ziliang Lyu, Miroslav Krstic, Kaixin Lu +2
This paper considers the problem of adaptively overriding unsafe actions of a nominal controller in the presence of high-relative-degree nonovershooting constraints and parametric…