11 papers · 1 filter
AnyBody: Free-Form Whole-Body Humanoid Control from Arbitrary Keypoint Guidance
Shuning Li, Sikai Li, Jiachen Li +1
We present AnyBody, a unified whole-body humanoid controller driven by an arbitrary subset of body keypoints chosen at deploy time. Prior physics-based trackers either rely on expe…
A Wearable ECG Device for Differentiating Hypertrophic Cardiomyopathy from Acquired Left Ventricular Hypertrophy
Jiachen Li, Hanyu Zhu, Edward Kim +7
Hypertrophic Cardiomyopathy (HCM) is a genetic heart disease affecting approximately 1 in 500 people and is the leading cause of sudden cardiac death in young athletes. Current dia…
VLM-in-the-Loop: A Plug-In Quality Assurance Module for ECG Digitization Pipelines
Jiachen Li, Shihao Li, Soovadeep Bakshi +2
ECG digitization could unlock billions of archived clinical records, yet existing methods collapse on real-world images despite strong benchmark numbers. We introduce \textbf{VLM-i…
Behavioral Score Diffusion: Model-Free Trajectory Planning via Kernel-Based Score Estimation from Data
Shihao Li, Jiachen Li, Jiamin Xu +1
Diffusion-based trajectory optimization has emerged as a powerful planning paradigm, but existing methods require either learned score networks trained on large datasets or analyti…
Gradient-Based Data Valuation Improves Curriculum Learning for Game-Theoretic Motion Planning
Shihao Li, Jiachen Li, Dongmei Chen
We demonstrate that gradient-based data valuation produces curriculum orderings that significantly outperform metadata-based heuristics for training game-theoretic motion planners.…
Data-Attributed Adaptive Control Barrier Functions: Safety-Certified Training Data Curation via Influence Analysis
Jiachen Li, Shihao Li, Dongmei Chen
Learning-based adaptation of Control Barrier Function (CBF) parameters offers a promising path toward safe autonomous navigation that balances conservatism with performance. Yet th…
Fleet-Level Battery-Health-Aware Scheduling for Autonomous Mobile Robots
Jiachen Li, Shihao Li, Jian Chu +2
Autonomous mobile robot fleets must coordinate task allocation and charging under limited shared resources, yet most battery aware planning methods address only a single robot. Thi…
Auction-Based Task Allocation with Energy-Conscientious Trajectory Optimization for AMR Fleets
Jiachen Li, Soovadeep Bakshi, Jian Chu +2
This paper presents a hierarchical two-stage framework for multi-robot task allocation and trajectory optimization in asymmetric task spaces: (1) a sequential auction allocates tas…
IF-CPS: Influence Functions for Cyber-Physical Systems -- A Unified Framework for Diagnosis, Curation, and Safety Attribution
Jiachen Li, Shihao Li, Soovadeep Bakshi +2
Neural network controllers trained via behavior cloning are increasingly deployed in cyber-physical systems (CPS), yet practitioners lack tools to trace controller failures back to…
Stochastic Trajectory Influence Functions for LQR: Joint Sensitivity Through Dynamics and Noise Covariance
Jiachen Li, Shihao Li, Soovadeep Bakshi +2
We present a three-level influence hierarchy for data valuation in stochastic LQR. At the \emph{model level}, the trajectory influence surrogate $\IFm_k := H^{-1}g_k$ approximates…
Curriculum-Based Soft Actor-Critic for Multi-Section R2R Tension Control
Shihao Li, Jiachen Li, Christopher Martin +3
Precise tension control in roll-to-roll (R2R) manufacturing is difficult under varying operating conditions and process uncertainty. This paper presents a curriculum-based Soft Act…