6 papers
Resilient Angle-Constrained Formation Control and Localization Under DoS Attacks (Extended Version)
Nhat-Minh Le-Phan, Ziliang Lyu, Lihua Xie
This paper studies resilient angle-constrained leader--follower formation control and localization of multi-agent systems under asynchronous denial-of-service (DoS) attacks, which…
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…
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…
One-Point Sampling for Distributed Bandit Convex Optimization with Time-Varying Constraints
Kunpeng Zhang, Lei Xu, Xinlei Yi +4
This paper considers the distributed bandit convex optimization problem with time-varying constraints. In this problem, the global loss function is the average of all the local con…